Shock mitigation and recovery motion for a falling small humanoid robots
Some robots such as humanoids are very unstable and have a high risk of fall over and hardware damage. Therefore, we have been working on various mechanisms to mitigate the impact of fall over by attaching to a small humanoid robot.
Shock minitagation by utillizing umbrella
When the humanoid robot falls, it opens a folding umbrella attached to its head to support itself and mitigate the impact. The robot detects and predicts the fall by a sensor, and opens the umbrella to mitigate the impact of fall over. After that, the robot selects a recovery action corresponding to own state, and finally closes the umbrella to return to the standing state. By utilizing a folding umbrella, we have been realized a reversible shock mitigation mechanism.
- Recovery corresponding to the states of fall over
- Closing the umbrella after recovery
- Recovery corresponding to fall over on walking
Shock minitagation by utillizing soft wheel
This study have been working on a shock mitigation mechanism with soft wheels. the robot can mitigate the impact of a fall without dropping an object grasped with the hands by attaching soft wheels to the shoulders. When the robot falls over on uneven terrain, it rises up after moving to level ground on its wheels. In this way, the robot can avoid another fall on uneven terrain by passing such terrain with wheels.
Videos
Shock minitagation by utillizing umbrella
Recovery corresponding to the states of fall over
Closing the umbrella after recovery
Recovery corresponding to fall over on walking
Shock minitagation by utillizing soft wheel
Recovery from fall over in a step
Recovery from fall over on a slope
Research poster (in Japanese)
Related works
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Taiki Masubuchi, Shunsuke Kudoh and Kohei Kimura. Shock Mitigation and Fall Recovery for Humanoid Robot Utilizing Opening and Closing Mechanism of a Folding Umbrella. Transactions of the Society of Instrument and Control Engineers. Vol.61 No.1 pp.32-45
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Taiki Masubuchi, Shunsuke Kudoh, Kohei Kimura. Shock mitigation and recovery motion for a falling robot utilizing a folding umbrella. 24th SICE System Integration Division Annual Conference (SI2023). 2023. 3H2-03
