Support torque reduction mechanism for biped locomotor with parallel mechanism

Yusuke Sugahara*, Masamiki Kawase, Yutaka Mikuriya, Takuya Hosobata, Hiroyuki Sunazuka, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

17 被引用数 (Scopus)

抄録

This paper describes the development of the Support Torque Reduction Mechanism for a biped locomotor with leg mechanisms using Stewart Platforms, designed for heavy payload and low power consumption during walking. The basic design of this mechanism was decided through preliminary experiments. Each leg of the robot is equipped with this mechanism consisting of 2 gas springs with different reaction forces, which are switched according to the swing / support phase. The experiment measuring motor current during walking with payload and the walking experiment with maximum payload confirmed the effectiveness of this mechanism.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ3213-3218
ページ数6
出版ステータスPublished - 2004
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9 282004 10 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
4

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
国/地域Japan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • 工学(全般)

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