Simulation of KHR-2HV in Mars

We used Webots simulator as our platform for the simulation
of Kondo KHR-2V, a 17 DOF
humanoid robot and set the mass of the robot to be 2.8 kg. The
gravitational pull of the planetary surface is 3.7 ms-2 which is
equal to the gravitational pull of the mars.

The humanoid detects a an approaching meteorite, estimates the impact fireball radius and flies to a safe region to avoid collision with the meteorite. We employed external forces in ODE engine to imitate the jet action. Prior to landing, the external forces are brought to zero(jet propeller deactivation) and the robot falls on the ground. Then it stands up automatically using th eatate space approach and resumes its operation

Category:

Science & Technology

Tags:

• Humanoids
• robot
• simulation
• KHR-2HV
• webots
• robotics