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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

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2474-2479
ページ数6
ISBN(電子版)9781538637418
DOI
出版ステータスPublished - 2018 3月 23
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
継続期間: 2017 12月 52017 12月 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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