Experimental verification of a gravity compensation mechanism for a humanoid robot

Satoru Shirata, Atsushi Konno, Masaru Uchiyama

    研究成果: Article査読

    抄録

    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.

    本文言語English
    ページ(範囲)2734-2741
    ページ数8
    ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    73
    10
    DOI
    出版ステータスPublished - 2007 10

    ASJC Scopus subject areas

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

    フィンガープリント 「Experimental verification of a gravity compensation mechanism for a humanoid robot」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

    引用スタイル