Impact Motion of Compact Humanoid Robot HOAP-2

摘要

This paper discusses the impact motion of humanoid robots. In application of humanoid robots like building operations, we need to apply large force not only continuously but momentally. However, effective impulsive force generation method doesn't exist. Therefore, using compact humanoid robot HOAP-2, we made sample impact motion can break wooden board. Sequential photographs and floor reaction force valves are taken as an example of experimental study. The effectiveness of impulsive force motion is discussed in this paper.