Development of Self-protection Behaviors in Fall Down by a Robot with Distributed Soft Flesh and Joint Shock Resistive Mechanism

• Kobayashi Kazuya

  Graduate School of Information Science and Technology, The University of Tokyo

• Yoshikai Tomoaki

  Graduate School of Information Science and Technology, The University of Tokyo

• Goto Takefumi

  Graduate School of Information Science and Technology, The University of Tokyo

• Inaba Masayuki

  Graduate School of Information Science and Technology, The University of Tokyo

Bibliographic Information

Other Title

• 柔軟性多層分布外装と関節脱臼復帰機構を備えたロボットの転倒・転落時衝撃吸収自己保護行動の実現
• ジュウナンセイ タソウ ブンプ ガイソウ ト カンセツ ダッキュウ フッキ キコウ オ ソナエタ ロボット ノ テントウ ・ テンラクジ ショウゲキ キュウシュウ ジコ ホゴ コウドウ ノ ジツゲン

Abstract

It is preferable that robots have soft outer cover and give themselves fewer impact in contact with humans or surroundings. Although self-protection is one of the most important functions and inevitably required for robust robot architecture, Simple introducing thick “flesh” to a robot tends to impede the movability and generality. In this paper, we have realized soft and thick outer cover by multilayered and distributed softness, and have introduced joint protection by dislocation and auto recover function. Finally, we realized various contact behaviors by the robot with distributed soft cover and joint dislocation ability.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 31 (4), 416-423, 2013

  The Robotics Society of Japan

Keywords

• Humanoid Robot
• Soft Cover
• Multilayered Flesh
• Dislocatable Joint

Details

• CRID: 1390282679706343936
• NII Article ID: 10031167744
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.31.416
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 024669747
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I024669747
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed