Aesthetic design and development of humanoid legged robot
Aesthetic design and development of humanoid legged robot
复制标题
仿人足式机器人的美学设计与开发
DOI：
10.1109/humanoids.2014.7041311
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Jaeheung Park
中科院分区：
文献类型：
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作者：
M. Schwartz;Soonwook Hwang;Yisoo Lee;J. Won;Sanghyun Kim;Jaeheung Park
本文介绍了一种新的全尺寸仿人腿机器人，它将美学和设计理论与机器人学的实际研究目标相结合。该机器人的研究目标是通过使用扭矩控制的关节在多种接触情况下创造出类似人类的柔顺运动。在每个关节上使用低传动比和直接连接，以实现低摩擦和可向后驱动，但没有明确的关节扭矩传感器。另一方面，在创造类似人类的运动时，不仅技术规格很重要，美学设计也很重要，因为根据设计的不同，机器人的相同性能可能会被感知到非常不同的情况。在本文中，美观的设计是通过多轴数控加工，采用一体化的设计和框架来实现机器人的设计过程。机架和设计的独特整合也大大降低了零部件和组装的复杂性，便于维护。在本文中，介绍了设计过程和特点，包括运动范围、重量和关键的美学决定。实验结果表明，该机器人具有柔顺的运动能力。
This paper presents a new full sized humanoid leg robot that combines aesthetics and design theory with practical research goals in robotics. The research goal of the robot is to create human-like and compliant motion in multiple contact situations through the use of torque controlled joints. Low gear ratio and direct connections are used at each joint for low-friction and back-drivability but without explicit joint torque sensors. On the other hand, in creating human-like motions, not only technical specifications but also aesthetic design is important as the same performance of the robot can be perceived very differently depending on the design. The aesthetic design is, in this paper, achieved by the robot design process using an integrated design and frame through multi-axis CNC machining. The unique integration of the frame and design also drastically reduces parts and complexity of assembly for easy maintenance. In this paper, the design process and features are presented with range of motion, weight, and key aesthetic decisions. Compliant motion capability is demonstrated by experimental results.
轻型双足人形机器人Saika-4的设计与开发
DOI：
--
发表时间：
2004
期刊：
Proc.of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
S.Shirata;A.Konno;M.Uchiyama
通讯作者：
M.Uchiyama