TY - JOUR
T1 - Experimental verification of a gravity compensation mechanism for a humanoid robot
AU - Shirata, Satoru
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2007/10
Y1 - 2007/10
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. 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.
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. 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.
KW - Gravity compensation mechanism
KW - Humanoid robot
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U2 - 10.1299/kikaic.73.2734
DO - 10.1299/kikaic.73.2734
M3 - Article
AN - SCOPUS:38149125501
VL - 73
SP - 2734
EP - 2741
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 10
ER -