The development and control of a flexible-spine for a human-form robot
The development and control of a flexible-spine for a human-form robot
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人形机器人柔性脊柱的研制与控制
DOI：
10.1163/156855303321165123
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发表时间：
2003
影响因子：
2
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
I. Mizuuchi;S. Yoshida;M. Inaba;H. Inoue
本文介绍了一种具有柔性脊椎的机器人的研制。通过嵌入一个多自由度将柔软的结构作为脊椎植入机器人体内，可以增加机器人的减震能力和在狭窄场所等各种环境中工作的能力。由于这些能力，机器人可以扩大其在人类环境中工作的机会。此外，它的运动可以更自然。开发的全身人形机器人具有五关节柔性脊柱。每个关节（椎骨）有3个d.o.f.。每个椎骨之间都有一个由硅橡胶制成的“圆盘”。脊柱由八个肌腱控制，其张力可以使用张力传感器和局部分布式微控制器控制。本文介绍了柔性脊柱的发展以及脊柱和身体姿势的控制。
In this paper, the development of a robot which has a flexible spine is presented. By embedding a multi-d.o.f. soft structure into a robot body as a spine, the robot can increase its ability to absorb shock and to work in various environment such as narrow places. As a result of these abilities, the robot can expand its opportunity to work in the human environment. Moreover, its motion could be more natural. The developed full-body human-form robot has a five-jointed flexible spine. Each joint (vertebra) has 3 d.o.f. Between each vertebrae is a 'disk' made of silicone rubber. The spine is controlled by eight tendons, whose tensions can be controlled using tension sensors and locally distributed microcontrollers. This paper describes the development of the flexible spine and the control of the posture of the spine and body.