Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot

Teppei Tsujita; Odpurev Altangerel; Satoko Abiko; Atsushi Konno

doi:10.1109/ROBIO.2017.8324421

Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot

Teppei Tsujita, Odpurev Altangerel, Satoko Abiko, Atsushi Konno

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Discussions on how to perform tasks at disaster sites are actively conducted, but there is little debate on important issues such as how to deliver robots to disaster sites. To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots. In this paper, the behavior of falling during parachute landing is modeled with an inverted pendulum model and the validity of the model is verified by the drop tests with a small single-legged robot. In addition, it was found that when the robot was dropped with a half-sitting posture, the impact acceleration is reduced. Based on this result, a parachute landing fall motion is designed and is succeeded in reducing the impact acceleration to 41%.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	221-226
Number of pages	6
Volume	2018-January
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324421
Publication status	Published - 2018 Mar 23
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 2017 Dec 5 → 2017 Dec 8

Other

Other	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country	China
City	Macau
Period	17/12/5 → 17/12/8

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Keywords

Humanoid Robots
Parachute Landing Fall
Shock Absorbing Motion

ASJC Scopus subject areas

Artificial Intelligence
Mechanical Engineering
Control and Optimization
Modelling and Simulation

Cite this

Tsujita, T., Altangerel, O., Abiko, S., & Konno, A. (2018). Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 221-226). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324421

Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot. / Tsujita, Teppei; Altangerel, Odpurev; Abiko, Satoko; Konno, Atsushi.

2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 221-226.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tsujita, T, Altangerel, O, Abiko, S & Konno, A 2018, Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 221-226, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 17/12/5. https://doi.org/10.1109/ROBIO.2017.8324421

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Access to Document

10.1109/ROBIO.2017.8324421