Design of programmable passive compliance shoulder mechanism
Design of programmable passive compliance shoulder mechanism
复制标题
可编程被动柔顺肩机构设计
DOI：
10.1109/robot.2001.932576
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
S. Ban
中科院分区：
文献类型：
--
作者：
M. Okada;Yoshihiko Nakamura;S. Ban
机械顺应性设计将是使仿人机器人真正与人类交互的最重要的技术焦点之一。为了保证机器人的安全性，仿人机器人必须具有机械柔顺性。在仿人机器人中引入被动柔顺性，利用柔顺构件中储存的动能实现人类技能具有很大的可能性。可编程的被动顺应性在应对不断变化的环境和任务执行方面起着重要作用。我们评估的有效性，实现人类技能的被动遵守和设计一个可编程的被动遵守机制“PPC控制论肩”，这是一个四自由度的肩机构的人形机器人使用一个封闭的运动链。通过实验对PPC控制肩的可编程性进行了评估。
Design of mechanical compliance would be one of the most important technical foci in making humanoid robots really interactive with the humans. For safety insurance mechanical compliance should be developed for humanoid robots. The introduction of the passive compliance to humanoid robots has large possibility for achieving human skill by using the dynamical energy stored in the compliant members. Programmable passive compliance plays an important role in coping with the changing environments and task execution. We evaluate the effectiveness of the passive compliance for the realization of human skill and design a programmable passive compliance mechanism 'PPC cybernetic shoulder' which is a four degree of freedom shoulder mechanism for humanoid robots using a closed kinematic chain. The programmability of the PPC cybernetic shoulder is evaluated by experiments.