Design and development of a new robot joint using a mechanical impedance adjuster

Toshio Morita, Shigeki Sugano

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

    121 Citations (Scopus)

    Abstract

    The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers which consists of the new mechanism, which can grasp objects softly. This paper presents a new joint mechanism named 'Mechanical Impedance Adjuster', and an impedance control method of robot finger joint by this mechanism. The effect of this method is shown by the experiment of the 1-D.O.F. finger model.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2469-2475
    Number of pages7
    Volume3
    DOIs
    Publication statusPublished - 1995
    EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
    Duration: 1995 May 211995 May 27

    Other

    OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
    CityNagoya, Jpn
    Period95/5/2195/5/27

    Fingerprint

    Robots
    Leaf springs
    Brakes
    Experiments

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Morita, T., & Sugano, S. (1995). Design and development of a new robot joint using a mechanical impedance adjuster. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2469-2475) https://doi.org/10.1109/ROBOT.1995.525630

    Design and development of a new robot joint using a mechanical impedance adjuster. / Morita, Toshio; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 1995. p. 2469-2475.

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

    Morita, T & Sugano, S 1995, Design and development of a new robot joint using a mechanical impedance adjuster. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, pp. 2469-2475, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21. https://doi.org/10.1109/ROBOT.1995.525630
    Morita T, Sugano S. Design and development of a new robot joint using a mechanical impedance adjuster. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. 1995. p. 2469-2475 https://doi.org/10.1109/ROBOT.1995.525630
    Morita, Toshio ; Sugano, Shigeki. / Design and development of a new robot joint using a mechanical impedance adjuster. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 1995. pp. 2469-2475
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