Impact relaxation control system of jumping humanoid robot

Author

Takahashi, Yoshihiko ; Uchiyama, Yoshiharu ; Shigeta, Shusaku ; Kameyama, Hirofumi

Author_Institution

Kanagawa Inst. of Technol., Atsugi

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

2678

Lastpage

2682

Abstract

We propose a landing control for a humanoid robot in order to soften the shock when a robot jumps from a slightly higher surface such as a step. We fabricated a three-link robot mechanism with two DC motors, and controlled it using a personal computer. The designed actuator uses a cushion mechanism with a torsion spring. We monitored the robot motion with a CCD camera, and analyzed the captured pictures using motion analysis software. We have confirmed that the robot is able to land on a hard surface without maintaining damage.

Keywords

CCD image sensors; DC motors; humanoid robots; machine control; mobile robots; CCD camera; DC motor; humanoid robot; impact relaxation control system; landing control; motion analysis software; personal computer; robot motion monitoring; torsion spring; Actuators; Charge coupled devices; Computerized monitoring; Control systems; DC motors; Electric shock; Humanoid robots; Microcomputers; Robot motion; Springs; Humanoid robot; cushion mechanism; impact relaxation; landing control; motion analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406821

Filename

4406821