2A1-E04 Design and Development of a Humanoid with Soft Sensor Flesh and Automatic Recoverable Mechanical Overload Protection Mechanism

Abstract

This paper describes developluent of a humanoid robot with soft thi(： k exterior and automatic re − coverable mechanical overload protection rIlech跚 ism． Such featuI ・ es ellable humanoid robots to toIera ． te obstacles in daily cllv 三 ronmellt ． The developed robot ha． s thick soft polyurethane covers elnbedded with tactile sensors a． nd IIlechaIlical torqlle hmiters so that it tolerate impulsive and StatiC overload ． We coIl 一 丘rIlled that the developed robot can wa ． lk ， carry things wea ． 1 ' illg whole − body enclosing exterior ， and it call tolerate the strong colltact such a． s fa 玉 lillg dowll b ｝ ・ dislocating the jo 三 nt aIld recovering autonlatically af七erwards 、 Key Words' Thick soft sells(，r flesh of robot ， Overload protection， Humanoid robot