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
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;
Conference_Titel :
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-61284-982-9
DOI :
10.1109/ICMECH.2011.5971227
