Design and evaluation of a gravity compensation mechanism for a humanoid robot

Satoru Shirata; Atsushi Konno; Masaru Uchiyama

doi:10.1109/IROS.2007.4399382

Design and evaluation of a gravity compensation mechanism for a humanoid robot

Satoru Shirata, Atsushi Konno, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

25 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	3635-3640
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399382
Publication status	Published - 2007 Dec 1
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country	United States
City	San Diego, CA
Period	07/10/29 → 07/11/2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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Design and evaluation of a gravity compensation mechanism for a humanoid robot. / Shirata, Satoru; Konno, Atsushi; Uchiyama, Masaru.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3635-3640 4399382 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shirata, S, Konno, A & Uchiyama, M 2007, Design and evaluation of a gravity compensation mechanism for a humanoid robot. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399382, IEEE International Conference on Intelligent Robots and Systems, pp. 3635-3640, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399382

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abstract = "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.",

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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.

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Design and evaluation of a gravity compensation mechanism for a humanoid robot

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