Drop test for evaluating effect of cushioning material and servo gain on parachute landing impact using a small one-legged robot

Teppei Tsujita, Tadamasa Kitahara, Ryoya Tahara, Satoko Abiko, Atsushi Konno

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

1 Citation (Scopus)

Abstract

To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots to a disaster site, and this research has focused on how to absorb parachute landing shock. Two large impacts were observed in one drop test using a small one-legged robot in our previous experiment. The second peak could be reduced by the shock absorbing motion, but the first peak did not change dramatically even if the landing posture was changed. Therefore, this paper forces on how to reduce the first impact acceleration and discusses on effect of cushioning material and servo gain on the impact. It was found that the difference in the hardness of the cushioning material greatly influences the impact acceleration. There was a difference in impact acceleration more than twice between a soft cushion and a hard cushion. On the other hand, impact absorption effect by change of servo gain of robot's actuators was minor. Therefore, it is concluded that flexibility with hardware is also necessary for joints.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2474-2479
Number of pages6
Volume2018-January
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 2018 Mar 23
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period17/12/517/12/8

Keywords

  • Humanoid Robots
  • Parachute Landing Fall
  • Shock Absorbing Mechanism

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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    Tsujita, T., Kitahara, T., Tahara, R., Abiko, S., & Konno, A. (2018). Drop test for evaluating effect of cushioning material and servo gain on parachute landing impact using a small one-legged robot. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 2474-2479). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324791