Experimental verification of a gravity compensation mechanism for a humanoid robot

Satoru Shirata, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review


    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. A humanoid robot Saika-4 is developed aiming to break through the limitation by using a gravity compensation mechanism. The mechanism is expected to reduce the joint toniue of the legs required to support the gravitational force of the whole body. This paper verifies effectiveness of the gravity compensation mechanism performing preliminary experiments.

    Original languageEnglish
    Pages (from-to)2734-2741
    Number of pages8
    JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    Issue number10
    Publication statusPublished - 2007 Oct


    • Gravity compensation mechanism
    • Humanoid robot

    ASJC Scopus subject areas

    • Mechanics of Materials
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering


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