Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In recent years, humanoids are expected to be used in real environments. However, humanoids are unstable and it is difficult to completely prevent falls. For this reason, it is necessary to take appropriate measures against falls that cannot be prevented. However, life-sized humanoids are large in mass and contain many fragile mechanisms, therefore they are vulnerable to impact. In this paper, we propose an exterior that uses an air damper shock absorbing exteriors that hardly restrict robot’s movement, is effective even when the robot system is stopped, and can be used for repeated falls. Furthermore, We propose a method for automatically generating Ukemi motion that make effective use of exteriors. The proposed method was applied to a life-size humanoid RHP3 and a fall experiment on a hard floor surface showed that the maximum acceleration at the time of collision could be reduced to about 40 [G].
