2A1-D02 脚部に重力補償機構を組み込んだヒューマノイドロボットの性能評価(ヒューマノイド)

概要

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A humanoid robot has not achieved performance like a human. One factor of this matter is output shortage of a motor. The power weight ratio of the motor falls below that of a human's muscle, and the great progress of that cannot be expected. In order to overcome the limitation of performance, the load of motors must be reduced. A humanoid robot Saika-4 is equipped with a gravity compensation mechanism in the legs. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. This paper is aimed to evaluate utility of the gravity compensation mechanism. To evaluate the gravity compensation mechanism, a dynamic walking motion operated by the same control is experimented with and without the gravity compensation mechanism. And joint torques estimated by the current data of the motors are compared.
2008-06-06