TY - GEN
T1 - Design and evaluation of a gravity compensation mechanism for a humanoid robot
AU - Shirata, Satoru
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2007/12/1
Y1 - 2007/12/1
N2 - Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to a general biped robot. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the gravity compensation mechanism in the legs. To evaluate effectiveness of the gravity compensation mechanism, preliminary experiments are performed using the humanoid robot.
AB - Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to a general biped robot. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the gravity compensation mechanism in the legs. To evaluate effectiveness of the gravity compensation mechanism, preliminary experiments are performed using the humanoid robot.
UR - http://www.scopus.com/inward/record.url?scp=51349085489&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349085489&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399382
DO - 10.1109/IROS.2007.4399382
M3 - Conference contribution
AN - SCOPUS:51349085489
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3635
EP - 3640
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -