TY - CHAP
T1 - Development of a Trapezoidal Leaf Spring for a Small and Light Variable Joint Stiffness Mechanism
AU - Mineshita, Hiroki
AU - Otani, Takuya
AU - Hashimoto, Kenji
AU - Sakaguchi, Masanori
AU - Kawakami, Yasuo
AU - Lim, Hun ok
AU - Takanishi, Atsuo
N1 - Funding Information:
Acknowledgements. Research was conducted with the support of Research Institute for Science and Engineering, Waseda University; Humanoid Robotics Institute, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University. It was also financially supported in part by NSK Foundation for the Advancement of Mechatronics and the JSPS KAKENHI Grant No. 17H00767. Further, 3DCAD software SolidWorks was provided by SolidWorks Japan K.K.; cables and connectors were provided by DYDEN CORPORATION.
Publisher Copyright:
© 2021, CISM International Centre for Mechanical Sciences.
PY - 2021
Y1 - 2021
N2 - Herein, we have developed a humanoid robot that achieves dynamic motion. Focusing on the running motion that is the basis of the motion, the robot has been developed focusing on the pelvic rotation on the frontal plane and the elasticity in leg joints (that changes according to running speed), which are the characteristics of humans during running. However, the variable joint stiffness mechanism that we have developed was large and heavy. Therefore, to make the mechanism smaller and lighter, we shorten the length of the leaf spring. We succeeded in downsizing the mechanism by changing its rectangular shape to trapezoidal, while maintaining strength and elasticity. The variable joint stiffness mechanism thus developed was more flexible, and its weight was reduced from 1.9 kg to 0.7 kg. The mechanism was mounted on the ankle joint, and it was confirmed that the required specifications were satisfied.
AB - Herein, we have developed a humanoid robot that achieves dynamic motion. Focusing on the running motion that is the basis of the motion, the robot has been developed focusing on the pelvic rotation on the frontal plane and the elasticity in leg joints (that changes according to running speed), which are the characteristics of humans during running. However, the variable joint stiffness mechanism that we have developed was large and heavy. Therefore, to make the mechanism smaller and lighter, we shorten the length of the leaf spring. We succeeded in downsizing the mechanism by changing its rectangular shape to trapezoidal, while maintaining strength and elasticity. The variable joint stiffness mechanism thus developed was more flexible, and its weight was reduced from 1.9 kg to 0.7 kg. The mechanism was mounted on the ankle joint, and it was confirmed that the required specifications were satisfied.
KW - Humanoid
KW - Joint stiffness mechanism
KW - Leaf spring
KW - Running robot
KW - Series elastic actuator
UR - http://www.scopus.com/inward/record.url?scp=85092344636&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85092344636&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-58380-4_43
DO - 10.1007/978-3-030-58380-4_43
M3 - Chapter
AN - SCOPUS:85092344636
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 355
EP - 363
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer Science and Business Media Deutschland GmbH
ER -