Development of Life-Sized Humanoid Robot Platform (RHP2) with Tough Contact Point for Continuing to Perform After Falls

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  • 転倒起立動作を可能とする耐荷重接触点を備えた等身大人間型ロボットプラットフォームRHP2の開発
  • テントウ キリツ ドウサ オ カノウ ト スル タイカジュウ セッショクテン オ ソナエタ トウシン オトナ カンガタ ロボットプラットフォーム RHP2 ノ カイハツ

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Abstract

<p>In this paper, we described a developed life-size humanoid robot platform. A purpose of the development is to build a robot platform which can continue to work even when it falls. To realize continuous operation while contacting with the environment, we designed to use linear actuators in order to endure impact force to joints. Tough contact points were located to support self-weight while contacting with environment. we present a methodology to create a motion which a robot contacts to environment without failure by using the tough contact points. Proposed method was confirmed by the experiment that the robot fell down without mechanical failures and continued to work after falling down by using tough contact point. </p>

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