A torque limiter for safe joint applied to humanoid robots against falling damage

Xinran Guo; Weimin Zhang; Huaxin Liu; Zhangguo Yu; Wen Zhang; William Conus; Kenji Hashimoto; Qiang Huang

doi:10.1109/ROBIO.2015.7419707

A torque limiter for safe joint applied to humanoid robots against falling damage

Xinran Guo, Weimin Zhang^*, Huaxin Liu, Zhangguo Yu, Wen Zhang, William Conus, Kenji Hashimoto, Qiang Huang

^*Corresponding author for this work

Graduate School of Information, Production and Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

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.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2454-2459
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7419707
Publication status	Published - 2016 Feb 24
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 2015 Dec 6 → 2015 Dec 9

Other

Other	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	15/12/6 → 15/12/9

ASJC Scopus subject areas

Artificial Intelligence
Hardware and Architecture
Control and Systems Engineering

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10.1109/ROBIO.2015.7419707

Cite this

Guo, X., Zhang, W., Liu, H., Yu, Z., Zhang, W., Conus, W., Hashimoto, K., & Huang, Q. (2016). A torque limiter for safe joint applied to humanoid robots against falling damage. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 2454-2459). [7419707] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7419707

A torque limiter for safe joint applied to humanoid robots against falling damage. / Guo, Xinran; Zhang, Weimin; Liu, Huaxin et al.

2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2454-2459 7419707.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Guo, X, Zhang, W, Liu, H, Yu, Z, Zhang, W, Conus, W, Hashimoto, K & Huang, Q 2016, A torque limiter for safe joint applied to humanoid robots against falling damage. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7419707, Institute of Electrical and Electronics Engineers Inc., pp. 2454-2459, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 15/12/6. https://doi.org/10.1109/ROBIO.2015.7419707

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AU - Hashimoto, Kenji

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AB - 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.

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A torque limiter for safe joint applied to humanoid robots against falling damage

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