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- 저자 : Takehiro Yoneyama (검색결과 1 건)
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Proposal of a flexible translational joint mechanism for humanoid robots
Takehiro Yoneyama,Kazuyuki Ito 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Recently, applications of robots for home assistant, helper and rehabilitation have attracted considerable attention, and various humanoid robots are developed. In such environments, robots have to handle unexpected disturbance very quickly. Especially, external forces owing to collision to obstacles or people are one of significant problems, because they causes risks to injure human bodies or to break own structures. However, almost conventional robots consist of rigid structures, so, many sensors and high-spec controller is required for handling external forces. To address this problem, flexible structures like a muscle have attracted considerable attentions. By employing flexible structures, we can reduce sensors and controllers, because the flexible structures can adapt themselves to the unknown environment by utilizing their physical properties without sensors or controllers. In this paper, we focus on flexible mechanism, and propose a flexible translational joint of which flexibility can be adjusted adaptively. We employ the proposed flexible joints for legs of a humanoid robot, and we conduct experiments of walking on vibrated plane. As the result, we confirm that the developed humanoid robot can walk on the vibrated plane, due to the filtering properties of the flexible joints.
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