Development of Humanoid Robot for Resisting Falling Down Impact with Hybrid Soft Sensor Exterior for Both Shock Absorbing and Stress Deconcentration

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The aim of this research is that to clarify the method to construct a robot with whole-body exterior and self-protective mechanical frame for resisting falling down impact. As a result of this research, we have developed a small humanoid robot which can absorb a shock and lower contact stress by newly developed whole body soft exterior, which is a hybrid structure of shock absorbing gel and thick urethane foam. Also, small torque limiter for joints of the robot is developed. Using the developed robot, it is confirmed that the shock due to the collision with floor caused by falling down action from the top of the 70cm table is lowered by the proposed structure, and the robot can resist the falling down impact.