A robot actuator development with high backdrivability

Tatsuzo Ishida, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    23 Citations (Scopus)

    Abstract

    We propose a new robot actuator, especially a robot actuator gear which has a very effective feature of backdrivability. We show the study of the new definition of backdrivability of an actuator gear which has the quantitative definition. From this definition we propose the method of making the gear which has a good backdrivability. Based on this method, the actuator gear was developed and we show the result from the experiment. The comparisons with the other types of actuator gear which are Harmonic drive gear and normal planetary gear are described. Finally the comparison has proved that the developed actuator gear has very effective backdrivability.

    Original languageEnglish
    Title of host publication2006 IEEE Conference on Robotics, Automation and Mechatronics
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok
    Duration: 2006 Jun 72006 Jun 9

    Other

    Other2006 IEEE Conference on Robotics, Automation and Mechatronics
    CityBangkok
    Period06/6/706/6/9

    Fingerprint

    Gears
    Actuators
    Robots
    Experiments

    Keywords

    • Backdrivability
    • Humanoid robot
    • Motor drives
    • Reduction gear
    • Robot actuator

    ASJC Scopus subject areas

    • Computer Science(all)
    • Control and Systems Engineering

    Cite this

    Ishida, T., & Takanishi, A. (2006). A robot actuator development with high backdrivability. In 2006 IEEE Conference on Robotics, Automation and Mechatronics [4018747] https://doi.org/10.1109/RAMECH.2006.252631

    A robot actuator development with high backdrivability. / Ishida, Tatsuzo; Takanishi, Atsuo.

    2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006. 4018747.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ishida, T & Takanishi, A 2006, A robot actuator development with high backdrivability. in 2006 IEEE Conference on Robotics, Automation and Mechatronics., 4018747, 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, 06/6/7. https://doi.org/10.1109/RAMECH.2006.252631
    Ishida T, Takanishi A. A robot actuator development with high backdrivability. In 2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006. 4018747 https://doi.org/10.1109/RAMECH.2006.252631
    Ishida, Tatsuzo ; Takanishi, Atsuo. / A robot actuator development with high backdrivability. 2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006.
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