DocumentCode
3755073
Title
A torque limiter for safe joint applied to humanoid robots against falling damage
Author
Xinran Guo;Weimin Zhang;Huaxin Liu;Zhangguo Yu;Wen Zhang;William Conus;Kenji Hashimoto;Qiang Huang
Author_Institution
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
fYear
2015
Firstpage
2454
Lastpage
2459
Abstract
Humanoid robot is anticipated to serve people in our daily life in the near future. However, the great cost of falling damage needs to be addressed before it is widely used. In this paper, a safe and compact joint with torque limiter is developed to reduce the damage to a humanoid robot during falling. First, the overall scheme design and working principles of the safe joint are investigated. Then, the mechanical design of the safe joint is presented in details. Finally, the effectiveness of the safe joint is verified by several simulations.
Keywords
"Torque","Force","Humanoid robots","Harmonic analysis","Safety","Shoulder"
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
Type
conf
DOI
10.1109/ROBIO.2015.7419707
Filename
7419707
Link To Document