Title :
Wire-Driven Bipedal Robot
Author :
Tsusaka, Yuji ; Ota, Yasuhiro
Author_Institution :
Adv. Mobility Lab., Toyota Central R&D Labs., Inc., Aichi
Abstract :
In this paper, a novel mechanical structure and original control architecture for a wire-driven bipedal robot are introduced. Whereas conventional direct motor driven bipedal robots are bulky and consume a lot of power, the world´s first wire-driven bipedal humanoid robot introduced in this paper is lightweight, flexible, and power efficient. This architecture is accomplished via an innovative arrangement of actuators that reflects human muscle concentrations. Furthermore, this design reduces the risk of injury, making it safer for human interaction
Keywords :
humanoid robots; legged locomotion; robot dynamics; human muscle concentrations; humanoid robot; wire-driven bipedal robot; Actuators; Gears; Human robot interaction; Humanoid robots; Injuries; Intelligent robots; Leg; Safety; Stability; Wires; Actuators; Bipedal Robot; Wire-Driven;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281831
