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| Content Provider | Springer Nature Link |
|---|---|
| Author | Ito, Kazuyuki Yoneyama, Takehiro |
| Copyright Year | 2014 |
| Abstract | In this study, we develop flexible joints for a humanoid robot that walks on an oscillating plane and discuss their effectiveness in compensating disturbances. Conventional robots have a rigid frame and are composed of rigid joints driven by geared motors. Therefore, disturbances, which may be caused by external forces from other robots, obstacles, vibration and oscillation of the surface upon which the robot is walking, and so on, are transmitted directly to the robot body, causing the robot to fall. To address this problem, we focus on a flexible mechanism. We develop flexible joints and incorporate them in the waist of a humanoid robot; the experimental task of the robot is to walk on a horizontally oscillating plane until it reaches the desired position. The robot with the proposed flexible joints, reached the goal position despite the fact that the controller was the same as that used for a conventional robot walking on a static plane. From these results, we conclude that our proposed mechanism is effective for humanoid robots that walk on an oscillating plane. |
| Starting Page | 305 |
| Ending Page | 309 |
| Page Count | 5 |
| File Format | |
| ISSN | 14335298 |
| Journal | Artificial Life and Robotics |
| Volume Number | 19 |
| Issue Number | 3 |
| e-ISSN | 16147456 |
| Language | English |
| Publisher | Springer Japan |
| Publisher Date | 2014-09-10 |
| Publisher Place | Tokyo |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Flexible joint Humanoid robot Oscillating plane Elasticity Artificial Intelligence (incl. Robotics) Computation by Abstract Devices Control, Robotics, Mechatronics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Biochemistry, Genetics and Molecular Biology |
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