Title :
Study on designing a biped robot with bi-articular muscle type bilateral servo system
Author :
Saito, Yukio ; Matsuoka, Takeshi ; Negoto, Hiroshi
Author_Institution :
Dept. of Intelligent Mech. Eng., Tokyo Denki Univ., Saitgama, Japan
Abstract :
Current bipedal robots in the world have one motor in one joint. Animals have antagonism bi-articular muscle over two joints, which is arranged at a hip and a knee joint in the thigh as hamstrings and rectus femoris. This research aims at development of the robot that does operation peculiar to animals. When people undertake load, the cural area starts operating ahead of the thigh area in order to control distribution of the moment on each joint. This research is the basic one that develops an articular muscle actuator from a motion study, and applies it to a bipedal robot.
Keywords :
control system synthesis; legged locomotion; motion control; servomechanisms; articular muscle actuator; bi-articular muscle type; bilateral servo system; bipedal robot; motion control; Actuators; Animals; Hip; Human robot interaction; Intelligent robots; Knee; Leg; Muscles; Robot kinematics; Servomechanisms;
Conference_Titel :
Robot and Human Interactive Communication, 2005. ROMAN 2005. IEEE International Workshop on
Print_ISBN :
0-7803-9274-4
DOI :
10.1109/ROMAN.2005.1513827
