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

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。

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.