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

2 Citations (Scopus)

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

Keywords

Humanoid Robots
Parachute Landing Fall
Shock Absorbing Motion

ASJC Scopus subject areas

Artificial Intelligence
Mechanical Engineering
Control and Optimization
Modelling and Simulation

Access to Document

10.1109/ROBIO.2017.8324421

Fingerprint Dive into the research topics of 'Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot'. Together they form a unique fingerprint.

Cite this

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

@inproceedings{c5da3867d33c42eda3bf08649867b2fc,

title = "Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot",

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%.",

keywords = "Humanoid Robots, Parachute Landing Fall, Shock Absorbing Motion",

author = "Teppei Tsujita and Odpurev Altangerel and Satoko Abiko and Atsushi Konno",

year = "2018",

month = mar,

day = "23",

doi = "10.1109/ROBIO.2017.8324421",

language = "English",

volume = "2018-January",

pages = "221--226",

booktitle = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 ; Conference date: 05-12-2017 Through 08-12-2017",

}

TY - GEN

T1 - Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot

AU - Tsujita, Teppei

AU - Altangerel, Odpurev

AU - Abiko, Satoko

AU - Konno, Atsushi

PY - 2018/3/23

Y1 - 2018/3/23

N2 - 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%.

AB - 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%.

KW - Humanoid Robots

KW - Parachute Landing Fall

KW - Shock Absorbing Motion

UR - http://www.scopus.com/inward/record.url?scp=85050030070&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85050030070&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2017.8324421

DO - 10.1109/ROBIO.2017.8324421

M3 - Conference contribution

AN - SCOPUS:85050030070

VL - 2018-January

SP - 221

EP - 226

BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

Y2 - 5 December 2017 through 8 December 2017

ER -