TY - GEN
T1 - Drop test for evaluating effect of cushioning material and servo gain on parachute landing impact using a small one-legged robot
AU - Tsujita, Teppei
AU - Kitahara, Tadamasa
AU - Tahara, Ryoya
AU - Abiko, Satoko
AU - Konno, Atsushi
N1 - Funding Information:
This work was partially supported by JSPS KAKENHI Grant-in-Aid for Challenging Exploratory Research JP15K12113 and JKA through its promotion funds from KEIRIN RACE.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/3/23
Y1 - 2018/3/23
N2 - To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots to a disaster site, and this research has focused on how to absorb parachute landing shock. Two large impacts were observed in one drop test using a small one-legged robot in our previous experiment. The second peak could be reduced by the shock absorbing motion, but the first peak did not change dramatically even if the landing posture was changed. Therefore, this paper forces on how to reduce the first impact acceleration and discusses on effect of cushioning material and servo gain on the impact. It was found that the difference in the hardness of the cushioning material greatly influences the impact acceleration. There was a difference in impact acceleration more than twice between a soft cushion and a hard cushion. On the other hand, impact absorption effect by change of servo gain of robot's actuators was minor. Therefore, it is concluded that flexibility with hardware is also necessary for joints.
AB - To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots to a disaster site, and this research has focused on how to absorb parachute landing shock. Two large impacts were observed in one drop test using a small one-legged robot in our previous experiment. The second peak could be reduced by the shock absorbing motion, but the first peak did not change dramatically even if the landing posture was changed. Therefore, this paper forces on how to reduce the first impact acceleration and discusses on effect of cushioning material and servo gain on the impact. It was found that the difference in the hardness of the cushioning material greatly influences the impact acceleration. There was a difference in impact acceleration more than twice between a soft cushion and a hard cushion. On the other hand, impact absorption effect by change of servo gain of robot's actuators was minor. Therefore, it is concluded that flexibility with hardware is also necessary for joints.
KW - Humanoid Robots
KW - Parachute Landing Fall
KW - Shock Absorbing Mechanism
UR - http://www.scopus.com/inward/record.url?scp=85050024671&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050024671&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324791
DO - 10.1109/ROBIO.2017.8324791
M3 - Conference contribution
AN - SCOPUS:85050024671
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2474
EP - 2479
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -