DocumentCode
3184778
Title
Wire-Driven Bipedal Robot
Author
Tsusaka, Yuji ; Ota, Yasuhiro
Author_Institution
Adv. Mobility Lab., Toyota Central R&D Labs., Inc., Aichi
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
3958
Lastpage
3963
Abstract
In this paper, a novel mechanical structure and original control architecture for a wire-driven bipedal robot are introduced. Whereas conventional direct motor driven bipedal robots are bulky and consume a lot of power, the world´s first wire-driven bipedal humanoid robot introduced in this paper is lightweight, flexible, and power efficient. This architecture is accomplished via an innovative arrangement of actuators that reflects human muscle concentrations. Furthermore, this design reduces the risk of injury, making it safer for human interaction
Keywords
humanoid robots; legged locomotion; robot dynamics; human muscle concentrations; humanoid robot; wire-driven bipedal robot; Actuators; Gears; Human robot interaction; Humanoid robots; Injuries; Intelligent robots; Leg; Safety; Stability; Wires; Actuators; Bipedal Robot; Wire-Driven;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0258-1
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.281831
Filename
4059026
Link To Document