Development of collision force suppression mechanism

Lim, Hun-ok; Maenisi, Kousuke; Sunagawa, Masahiko

doi:10.1109/iccas.2008.4694463

Cited by 6 publications

(1 citation statement)

References 15 publications

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“…In order to reduce collision forces more effectively, a passive compliant trunk equipped with linear springs and dampers was simulated [7]. A passive collision force mechanism which consists of an inner disk, outer disks, compression springs, a guide, and a slider was proposed [8]. A more reliable collision force suppression mechanism activated by an air cushion bag was proposed [9].…”

Section: Introductionmentioning

confidence: 99%

Development of human-friendly robot's waist with passive collision force suppression mechanism

Matsumoto

Ōno

Lim

2014

2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Ad

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This paper describes the development of a waist for a human friendly robot. The waist consists of pitch, roll, and yaw axes at which a passive collision force suppression mechanism is installed. The whole robot body of the robot is also covered by an air cushion bag capable of reducing impact force. When a collision between an object and the robot occurs, the collision/contact force is first suppressed by the air cushion bag. However, if a larger collision force is exerted on the robot, the passive collision force suppression mechanism is activated, and the force is reduced to almost zero. Using the human friendly robot, many collision experiments have been conducted, and the effectiveness of the collision force suppression mechanism is confirmed.

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Section: Introductionmentioning

confidence: 99%