Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints
Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints
复制标题
使用对抗驱动关节实现改变关节刚度的动态双足行走
DOI：
10.1109/robot.1998.680612
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
--
作者：
J. Yamaguchi;D. Nishino;A. Takanishi
介绍了一种具有对抗性驱动关节的真人大小的两足步行机器人，该机器人采用了一种非线性弹簧机构和一种使用这些关节的动态两足步行控制方法。在目前关于两足步行机器人的研究中，还没有开发出具有对抗驱动关节的真人大小的两足步行机器人，通过它来模仿人类的肌肉骨骼系统。人类被认为能够高效地行走，有效地利用腿部的惯性能和势能，在脚着地时以较小的冲击力平稳地行走，并灵活地应对外部环境。人类的关节是由两个或多个肌肉群驱动的。人类可以利用肌肉本身所具有的非线性弹簧特性来改变关节的硬度。这些功能对于类人来说是不可或缺的。然而，之前开发的两足步行机器人已经无法以这种方式行走。为此，作者开发了一种具有对抗性驱动关节的两足步行机器人，并提出了一种利用对抗性驱动关节改变关节刚度的两足动物动态行走控制方法。利用两足步行机器人及其控制方法进行了步行实验。实现了利用对抗性驱动关节改变关节刚度的两足动物动态行走。
The authors introduce a life-size biped walking robot having antagonistic driven joints using a nonlinear spring mechanism and a dynamic biped walking control method using these joints. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in lower limbs. Humans are considered to walk efficiently using the inertial energy and the potential energy of the lower limbs effectively, walk smoothly with less impact force when a foot lands and cope flexibly with the outside environment. The human joint is driven by two or more muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. These functions are indispensable for a humanoid. However, the biped walking robots developed previously have been unable to walk in this way. Therefore, the authors developed a biped walking robot having antagonistic driven joints, and proposed a walking control method for dynamic biped walking that uses antagonistic driven joints to vary joint stiffness. The authors performed walking experiments using the biped walking robot and the control method. As a result, dynamic biped walking varying the joint stiffness using antagonistic driven joints was 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