Examination of Actuators for Robots That Provide Low-Torque in Quick-Motion and High-Torque in Slow-Motion.

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Out aim is to realize an artificial musculo-actuation system that provides low torque in quick motion and high torque in slow motion according to its state. To begin with, we built the proposed actuation system and did its performance test, and eventually acquired fine data between the torque and the stiffness. From this, we applied the system to a quadruped robot and achieved smoothly the ability to walk slowly with low torque and swiftly with high torque. Thus, we demonstrated the efficiency of our system.