Abstract
This paper describes development of a humanoid robot with soft thick exterior and automatic recoverable mechanical overload protection mechanism. Such features enable humanoid robots to tolerate obstacles in daily environment. The developed robot has thick soft polyurethane covers embedded with tactile sensors and mechanical torque limiters so that it tolerate impulsive and static overload. We confirmed that the developed robot can walk, carry things wearing whole-body enclosing exterior, and it can tolerate the strong contact such as falling down by dislocating the joint and recovering automatically afterwards.
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