2A2-E05 剛性可変機能を有する腱駆動ヒューマノイドのための冗長多自由度頚部構造の開発

概要

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A Structure of multijoint and variable stiffness realizes various motion of humanoids. Especially, applying for cervical vertebrae of musculoskeletal humanoids affects its cervical part and head. However, almost cervical vertebraes of developed humanoids have basic degree of freedom and number of joints. Furthermore, plenty of tendon-driven cervical spines mount no hardware element to adjust their stiffness. In this paper, we designed a tendon-driven cervical part having three spherical joints and ten tendons. In addition, nonlinear spring elements for adjusting stiffness are inserted in all tendons. Relation between tension force acted on the head and the displacement of head shows changing its stiffness.