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

Teppei Tsujita, Odpurev Altangerel, Satoko Abiko, Atsushi Konno

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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%.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ221-226
ページ数6
ISBN(電子版)9781538637418
DOI
出版ステータスPublished - 2018 3 23
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
継続期間: 2017 12 52017 12 8

出版物シリーズ

名前2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
2018-January

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 機械工学
  • 制御と最適化
  • モデリングとシミュレーション

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