Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism
Design of biped walking robots having antagonistic driven joints using nonlinear spring mechanism
复制标题
采用非线性弹簧机构的对抗驱动关节双足步行机器人设计
DOI：
10.1109/iros.1997.649062
复制
发表时间：
1997
期刊：
影响因子：
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通讯作者：
A. Takanishi
中科院分区：
文献类型：
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作者：
J. Yamaguchi;A. Takanishi
作者从以下两个角度对仿人步行机器人进行了研究。一个是作为人文科学的观点。另一个是对类人机器人发展的看法。在目前的研究中，关于一个仿人步行机器人，有没有一个真人大小的仿人步行机器人与拮抗驱动关节的下肢模仿人体肌肉骨骼系统的开发实例。人类被认为表现出行走行为，既有效又能够灵活地应对与外部环境的接触。然而，目前已开发的仿人步行机器人还不能实现人的步行。人类可以改变关节刚度，使用肌肉本身所具有的非线性弹簧特性。该功能对于两足人形机器人来说是不可或缺的功能。因此，作者设计并建造了一个双足步行机器人和一个具有对抗驱动关节的双足人形机器人。本文介绍了一种仿人步行机器人的设计方法。利用仿人步行机器人和双足仿人步行机器人进行了步行实验，实现了准动态仿人步行、动态步行、动态音乐舞蹈和利用拮抗驱动关节的动态步行搬运。
The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with the antagonistically driven joints by which the human musculo-skeletal system is imitated in lower limbs. Humans are considered to exhibit walking behavior, both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots can not realize the human walking. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscle themselves. The function is an indispensable function for a bipedal humanoid. Therefore, the authors designed and built a biped walking robot and a bipedal humanoid having antagonistic driven joints. In this paper, the authors introduce the design method of the biped walking robot. The authors performed walking experiments with the biped walking robot and the bipedal humanoid As a result, quasi-dynamic biped walking, dynamic walking, dynamic dancing with dance music and carry with dynamic walking using antagonist driven joint were realized.
神经外科医生在神经科学研究中的作用
DOI：
--
发表时间：
2023
期刊：
影响因子：
--
作者：
齋藤 広樹;内田 健太郎;黒田 晃義;庄司 真太郎;宮城 正行;齋藤 亘;関口 裕之;井上 玄;高相 晶士;藤井幸彦
通讯作者：
藤井幸彦