A robot actuator development with high backdrivability

Tatsuzo Ishida, Atsuo Takanishi

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

24 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 Dec 1
Event2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand
Duration: 2006 Jun 72006 Jun 9

Publication series

Name2006 IEEE Conference on Robotics, Automation and Mechatronics

Conference

Conference2006 IEEE Conference on Robotics, Automation and Mechatronics
CountryThailand
CityBangkok
Period06/6/706/6/9

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

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  • Cite this

    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). https://doi.org/10.1109/RAMECH.2006.252631