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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ928-933
ページ数6
ISBN(電子版)9781728167947
DOI
出版ステータスPublished - 2020 7
イベント2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
継続期間: 2020 7 62020 7 9

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2020-July

Conference

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

フィンガープリント

「Drop impact analysis and shock absorbing motion of a life-sized one-legged robot with soft outer shells and a flexible joint」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル