Title :
Design of high D.O.F. mobile micro robot using electrical resistance control of shape memory alloy
Author :
Urata, Junichi ; Yoshikai, Tomoaki ; Mizuuchi, Ikuo ; Inaba, Masayuki
Author_Institution :
Univ. of Tokyo, Tokyo
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
Shape-memory alloy(SMA) is a suitable actuator for a micro mobile robot due to its size and weight. However, length of SMA actuators is known to be nonlinear and hysteretic. We can control SMA´s shape analogously to its electrical resistance. This paper presents a platform to construct high degree of freedom robots with tendons of SMA actuators. We incorporate coil shape SMA as variable length tendons of tendon-driven robots. By controlling electrical resistance of SMA tendons, we can control posture of the robot structure in model-based method. A method to resolve electrical resistance for control from given posture of a high degree of freedom robot by using model of SMA and the robot is proposed. A small electrical system for high D.O.F. robots is also developed. As an application of our system, we show a four-legged robot with 16 D.O.F. joints and 24 SMA tendons.
Keywords :
actuators; electric variables control; legged locomotion; microrobots; position control; shape memory effects; actuator; electrical resistance control; four-legged robot; high D.O.F. mobile micro robot; posture control; shape memory alloy; tendon-driven robots; Actuators; Coils; Electric resistance; Electric variables control; Hysteresis; Mobile robots; Robot control; Shape control; Shape memory alloys; 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.2007.4399561
