Title :
Design of tendon driven humanoid’s lower body equipped with redundant and high-powered actuators
Author :
Nakanishi, Yuto ; Namiki, Yuta ; Urata, Junichi ; Mizuuchi, Ikuo ; Inaba, Masayuki
Author_Institution :
Univ. of Tokyo, Tokyo
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
This paper presents how to develop a lower body with both redundant and high-powered actuator systems toward the next version of a fully tendon-driven musculoskeletal humanoid, which will be able to realize various flexible motions using whole body. The newly developed lower body has 44 actuators and each actuator can generate 25[kgf] muscle force continually. We propose the new design method of hollowing out the parts assembly areas, which realizes easy design of the skeleton with massive actuators. Finally we presented an experiment on the hip muscles tension and redundancy performances during the hip joint rotation motion.
Keywords :
actuators; humanoid robots; high-powered actuators; massive actuators; redundant actuators; tendon driven humanoid; tendon-driven musculoskeletal humanoid; Design methodology; Gears; Hip; Humans; Intelligent actuators; Joints; Muscles; Musculoskeletal system; Robots; Tendons;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399503