Abstract
The research of the taking up motion by small humanoid robots was done. The experiment that the small humanoid robot SANSYRO II took up the small humanoid robot KHR-1 was done. It was became clear that securing of the foothold was important to lift mass same as oneself The robot which improved SANSYRO II, TASUKE I was developed. The elbows were used effectively, and TASUKE I was lifted to the position to make KHR-1 stand up. Elasticity bodies were assembled to cover the deficiency of torque. The formula of the torque by the elasticity body was derived, and a graph was drawn to decide the assembling position of the elasticity body. The research of Humanoid that a person was helped has just been started and this laboratory will push forward a study of the TASUKE series in future.
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