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 proceedingConference 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 languageEnglish
    Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    Pages3635-3640
    Number of pages6
    DOIs
    Publication statusPublished - 2007 Dec 1
    Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
    Duration: 2007 Oct 292007 Nov 2

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    CountryUnited States
    CitySan Diego, CA
    Period07/10/2907/11/2

    ASJC Scopus subject areas

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

    Fingerprint Dive into the research topics of 'Design and evaluation of a gravity compensation mechanism for a humanoid robot'. Together they form a unique fingerprint.

    Cite this