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
收藏
页码：1517 / 1521
页数：5
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