1P2-B07 Reflex Action against Input Shock in the High-Power Humanoid Provided with the Real-Time Communication Link "Responsive Link"

Abstract

In order to decrease landing shock on axial-driven jumping humanoids by electronic control instead of hardware elasticity, it is necessary to improve the response speed of the inner control systems. We have developed a Node-to-Node distributed control system for the high-power humanoids by connecting the high-power motor drivers with the real-time distributed communication link, "Responsive Link". In addition, we developed a shock detecting system with accelerometers instead of force sensors necessarily installed via rubber bushes. We proved that the proposed systems are effective improving the response speed of high-power humanoids against input shock, and we realized the reflex action with the proposed systems.