NDLI: Achievement of twist squat by musculoskeletal humanoid with screw-home mechanism

Content Provider	IEEE Xplore Digital Library
Author	Asano, Y. Mizoguchi, H. Kozuki, T. Motegi, Y. Urata, J. Nakanishi, Y. Okada, K. Inaba, M.
Copyright Year	2013
Description	Author affiliation: Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo, Japan (Asano, Y.; Mizoguchi, H.; Kozuki, T.; Motegi, Y.; Urata, J.; Nakanishi, Y.; Okada, K.; Inaba, M.)
Abstract	Human knee joint has a yaw-axis rotational DOF and a locking mechanism called screw-home mechanism. We focus on this mechanism and implement it to a musculoskeletal humanoid through hardware design. The importance of developing a knee joint with screw-home mechanism is that such a joint is capable of working yaw-axis properly and generating enough pitch joint torque for supporting whole body motion. In this paper, as an evaluation of our developed knee joint, we first checked the moment arm of the yaw rotational axis of the knee. Moreover, we also checked the yaw angle displacement during squat motion. From these results, we confirmed that the mechanism worked properly. Second, in order to check whether enough pitch joint torque is generated during movement, we conducted several experiments with whole body motions such as squatting. Lastly, as unique and integrated motions that involve the use of yaw DOF derived from the mechanism, we tested knee joint Open-Close, Right-to-Left and whole body twist squat motion. Our results demonstrated the feasibility of musculoskeletal humanoids with screw-home mechanism and showed that we have achieved humanlike twisting motion.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4649
Ending Page	4654
File Size	2102252
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697025
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Knee Muscles Torque Hardware Legged locomotion
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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