Impact relaxation control system of jumping humanoid robot

被引：0

作者：

Takahashi, Yoshihiko ^{[1
]}

Uchiyama, Yoshiharu ^{[1
]}

Shigeta, Shusaku ^{[1
]}

Kameyama, Hirofumi ^{[1
]}

机构：

[1] Kanagawa Inst Technol, Dept Syst Design Engn, Kanagawa, Japan

来源：

2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6 | 2007年

关键词：

humanoid robot; landing control; impact relaxation; cushion mechanism; motion analysis;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a landing control for a humanoid robot in order to soften the shock when a robot jumps from a slightly higher surface such as a step. We fabricated a three-link robot mechanism with two DC motors, and controlled it using a personal computer. The designed actuator uses a cushion mechanism with a torsion spring. We monitored the robot motion with a CCD camera, and analyzed the captured pictures using motion analysis software. We have confirmed that the robot is able to land on a hard surface without maintaining damage.

引用

页码：1517 / 1521

页数：5

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