Page 210 - Mechatronics for Safety, Security and Dependability in a New Era

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CONCLUTION

Tn this paper, we described the safety design for the small biped-walking home-entertainment robot
SDR-4XTT and the outline of the robotic actuator ISA-4 which contributes to the safety management of
the robot. The cross relationships between functions and features are shown in Figure 12.
As SDR-4XII is designed to be used in a home environment, we had to encounter several problems
for its safe operation. Therefore we developed new ingenious functions described in this paper and
settled the problems.

Sinfpfy ff at^irfc
Mechanical design — r - •A Safety cover design } - User Protection
-fl Pinching detection \ ~i
tl Lifting up and holding motion control 1 i
H Over temperature detection ) j
H
Overload detection
- I Shock impact detection h
Functions of ISA-4 — -A Falling over motion control h- - Robot Protection

Contribution •
Figure 12: Cross relationship between functions and features
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