Japanese　

"Hanzou-S": a human-form robot which has variable flexibility

• Points
  • Dynamical control of the flexibility according to the situation
  • Shock absorption by softening when suspecting a shock
  • Dynamic motion of whole-body robot embedded with flexible structure

• Brachiation (adjusting the flexibility of torso during the motion)

Legs are withdrawn and the torso becomes rigid for preparing to start brachiation.
For preparing to absorb the shock in grasping the next bar, the torso becomes soft in the air.
Shock is absorbed by bending the torso flexibly when it grasps the next bar.

• Movie

　References

1. I. Mizuuchi, T. Matsuki, M. Inaba, and H. Inoue: "An Approach to a Humanoid That Has a Variable Flexible Torso", Proc. of the 16th Annual Conference of the Robotics Society of Japan, Vol.2, pp.825--826, 1998
2. I. Mizuuchi, T. Matsuki, M. Inaba, and H. Inoue: "Simulation environment of humanoid robot which contains soft structure, and its application to real robot's motion generation", Proc. of 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC'99), 2A1-47-085, 1999
3. I. Mizuuchi, M. Inaba, and H. Inoue: "Simulation environment of humanoid robot which has variable soft structure.", Proc. of the 17th Annual Conference of the Robotics Society of Japan, Vol.3, pp.1197--1198, 1999

【Note】 Movies are limited in the laboratory.

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