TY - GEN
T1 - Biomimetic upper limb mechanism of humanoid robot for shock resistance based on viscoelasticity
AU - Zhang, Zezheng
AU - Liu, Huaxin
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Huang, Qiang
AU - Zhou, Qinqin
AU - Cai, Zhaoyang
AU - Guo, Xinxin
AU - Zhang, Weimin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/22
Y1 - 2017/12/22
N2 - Humanoid robots encounter high falling risks when they walk or operate in an uncertain environment. In this paper, we propose a biomimetic mechanism for the upper limb of a humanoid robot that provides shock resistance when the robot falls forward. This biomimetic mechanism is based on viscoelasticity, and was modeled on human bones and muscles to achieve supporting and buffering. We install a series elastic component within the robot's elbow and also install a viscoelastically active pneumatically actuated impact protection device. We perform the falling forward experiments using our experimental platform, and we employ encoder, IMU, air gauge and F-T sensor to collect the experimental data. Based on the analysis of the experimental data, we conclude that the proposed biomimetic mechanism which is modeled on actual human bones and muscles can support the robot body, absorb the falling impact and against falling damage.
AB - Humanoid robots encounter high falling risks when they walk or operate in an uncertain environment. In this paper, we propose a biomimetic mechanism for the upper limb of a humanoid robot that provides shock resistance when the robot falls forward. This biomimetic mechanism is based on viscoelasticity, and was modeled on human bones and muscles to achieve supporting and buffering. We install a series elastic component within the robot's elbow and also install a viscoelastically active pneumatically actuated impact protection device. We perform the falling forward experiments using our experimental platform, and we employ encoder, IMU, air gauge and F-T sensor to collect the experimental data. Based on the analysis of the experimental data, we conclude that the proposed biomimetic mechanism which is modeled on actual human bones and muscles can support the robot body, absorb the falling impact and against falling damage.
UR - http://www.scopus.com/inward/record.url?scp=85044456494&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2017.8246939
DO - 10.1109/HUMANOIDS.2017.8246939
M3 - Conference contribution
AN - SCOPUS:85044456494
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 637
EP - 642
BT - 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PB - IEEE Computer Society
T2 - 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Y2 - 15 November 2017 through 17 November 2017
ER -