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

开发具有混合软传感器外部减震和应力分散功能的抗跌落冲击仿人机器人

• 批准号: 22650037
• 负责人: YOSHIKAI Tomoaki
• 金额: $ 2.22万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Challenging Exploratory Research
• 财政年份: 2010
• 资助国家: 日本
• 起止时间: 2010 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22650037/
• 关键词: 知能ロボット; 衝撃吸収外装; 関節保護機構; 発泡成形分布外装; 衝撃吸収肉質外装; 関節保護機能; 関節保護機

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.

本研究的目的是阐明一种具有全身外观和自保护机械框架的机器人的构造方法，以抵抗跌落冲击。在此基础上，我们开发了一种小型人形机器人，该机器人可以吸收冲击并降低接触应力，该机器人采用新开发的全身柔软外壳，即减震凝胶和厚聚氨酯泡沫的混合结构。同时，开发了机器人关节的小扭矩限制器。利用所研制的机器人，证实了所提出的结构降低了70cm工作台顶部下落动作与地板碰撞产生的冲击，机器人能够抵抗下落冲击。

项目成果

Development of Humanoid with Distributed Soft Flesh and Shock-Resistive Joint Mechanism for Self-Protective Behaviors in Impact from Falling Down

开发具有分布式软肉和抗冲击关节机构的人形机器人，用于跌倒冲击时的自我保护行为

• 发表时间: 2011
• 作者: Kazuya KOBAYASHI;Tomoaki YOSHIKAI;Masayuki INABA
• 通讯作者: Masayuki INABA