Double spherical joint and backlash clutch for lower limbs of humanoids

Author

Okada, Masafumi ; Shinohara, Tetsuya ; Gotoh, Tatsuya ; Ban, Shigeki ; Nakamura, Yoshihiko

Author_Institution

Dept. of Mechano-Informatics, Tokyo Univ., Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

491

Abstract

In this paper, we develop two mechanisms for improving humanoid robot motions. The double spherical joint is a six DOF mechanism whose axes intersect in one point. This mechanism is used for humanoid hip joints with a waist joint function without increasing the actuator. The backlash clutch realizes a high torque driving and a free joint using backlash mechanisms is used for knee joints. The free mode will play a role in humanoid behavior that is dynamically coupled with the environment. The humanoid robot with these two mechanisms is developed and results of preliminary experiments are shown.

Keywords

legged locomotion; motion control; torque; backlash clutch; biped walk; degrees of freedom; double spherical joint; free modes; humanoid behavior; humanoid hip joint mechanism; humanoid lower limbs; humanoid robot motions; humanoid robots; knee joint mechanism; torque driving; waist joint function; Actuators; Couplings; Gravity; Hip; Humanoid robots; Intelligent robots; Intelligent sensors; Joints; Knee; Switches;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241642

Filename

1241642