Drop impact analysis and shock absorbing motion of a life-sized one-legged robot with soft outer shells and a flexible joint

Yuki Hidaka, Teppei Tsujita, Satoko Abiko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Humanoid robots are expected to perform tasks in dangerous sites such as disaster areas instead of a human. In order to reach the destination quickly, we consider throwing a humanoid robot in the parachute from the sky. It is discussed analyses of the impact acceleration and how to reduce the landing impact using a life-sized one-legged robot in this paper. The robot has a SEA (Series Elastic Actuator) in its knee and the angle of the knee is controlled by a proportional feedback controller. In order to understand the relationship between the knee angle and the impact acceleration, drop tests were conducted. The drop tests show that the peak acceleration of impact between the body and the floor was the smallest when the joint angle was 5 π /12 rad. On the other hand, the peak acceleration of impact between the sole and the floor was the largest. When the joint angle is π/12 rad, the peak acceleration of impact between the sole and the floor was the smallest. In order to reduce both peak accelerations, the joint angle was set as π/12 rad at the time of landing, and then the joint moved from π/12 rad to 5 π /12 after landing. It was confirmed that this motion is able to reduce both peak accelerations by experiments.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages928-933
Number of pages6
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - 2020 Jul
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: 2020 Jul 62020 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
CountryUnited States
CityBoston
Period20/7/620/7/9

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Fingerprint Dive into the research topics of 'Drop impact analysis and shock absorbing motion of a life-sized one-legged robot with soft outer shells and a flexible joint'. Together they form a unique fingerprint.

Cite this