DocumentCode
2565362
Title
Development of musculoskeletal biped robot driven by direct-drive actuators
Author
Fujimoto, Yasutaka ; Smadi, Issam A. ; Wakayama, Yuki
Author_Institution
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
fYear
2011
fDate
13-15 April 2011
Firstpage
821
Lastpage
826
Abstract
We develop a new musculoskeletal biped robot driven by bigh-thrust direct-drive linear actuator; spiral motor. The motor is compact even though it is not combined with mechanical gears. Thanks to its gearless mechanism, fine position/force control is possible. Direct-drive position control is verified by experiments, where very quick motion is realized. Moreover, simulation method for musculoskeletal biped robot is proposed.
Keywords
electric actuators; electric motors; force control; legged locomotion; position control; direct-drive linear actuator; direct-drive position control; force control; mechanical gears; musculoskeletal biped robot; spiral motor; Equations; Mathematical model; Musculoskeletal robot; biped robot; direct-drive system; linear actuator; spiral motor;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location
Istanbul
Print_ISBN
978-1-61284-982-9
Type
conf
DOI
10.1109/ICMECH.2011.5971227
Filename
5971227
Link To Document