日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
転倒起立動作を可能とする耐荷重接触点を備えた等身大人間型ロボットプラットフォームRHP2の開発
垣内 洋平掃部 雅幸下村 信恭柚木崎 創野沢 峻一岡田 慧稲葉 雅幸
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ジャーナル フリー

2018 年 36 巻 10 号 p. 703-712

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In this paper, we described a developed life-size humanoid robot platform. A purpose of the development is to build a robot platform which can continue to work even when it falls. To realize continuous operation while contacting with the environment, we designed to use linear actuators in order to endure impact force to joints. Tough contact points were located to support self-weight while contacting with environment. we present a methodology to create a motion which a robot contacts to environment without failure by using the tough contact points. Proposed method was confirmed by the experiment that the robot fell down without mechanical failures and continued to work after falling down by using tough contact point.

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