Tendon routing resolving inverse kinematics for variable stiffness joint
Tendon routing resolving inverse kinematics for variable stiffness joint
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DOI：
10.1109/iros.2014.6943108
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发表时间：
2014-09
期刊：
影响因子：
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通讯作者：
Shouhei Shirafuji;Shuhei Ikemoto;K. Hosoda
中科院分区：
文献类型：
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作者：
Shouhei Shirafuji;Shuhei Ikemoto;K. Hosoda
近年来，具有可变关节刚度的肌腱驱动机构在具有物理接触的不确定环境下工作的类人机器人的开发中受到了关注。在本文中，我们提出了一种利用专用执行器独立控制肌腱驱动机械臂位置和关节刚度的机构。该机构由两部分组成：一个组件转换肌腱的运动来激活致动器，另一个组件应用拉力来调整关节刚度。我们将这种机制命名为“肌腱路由解析逆运动学”（TRIK）。并举例说明了各种肌腱驱动机械臂的机构设计方法。我们针对一自由度非恒矩臂机械臂设计了TRIK。最后，通过带非线性弹性构件的变关节刚度实验，验证了该机构的有效性。
Recently, the tendon-driven mechanism with variable joint stiffness has received attention for use in the development of a humanoid robot operated in an uncertain environment with physical contact. In this paper, we propose a mechanism to control the position and joint stiffness of a tendon-driven manipulator independently, using dedicated actuators. This mechanism consists of two parts: a component that transforms the movements of the tendons to activate the actuators, and a component that applies tensile forces to adjust the joint stiffness. We named this mechanism “tendon routing resolving inverse kinematics” (TRIK). The methodology for designing this mechanism for various tendon-driven manipulators is presented with several examples. We designed TRIK for a manipulator with one degree of freedom and nonconstant-moment arms. Finally, experiments of variable joint stiffness with nonlinearly elastic components were conducted to validate the proposed mechanism.