1P2-C06 広い可動域を有する空気圧駆動小型ヒューマノイドの5自由度肩機構の開発

DOI Web Site

書誌事項

タイトル別名
  • 1P2-C06 Design of 5-DOF Pneumatically Actuated Shoulder with wide ranges of motion for Miniature Humanoid

抄録

Humanoid robots with a large number of compliant joints with wide ranges of motion is durable, because they can avoid postures that may destroy their surroundings and their own bodies. However, it is difficult to equip robots with such joints similar to humans due to space limitation. For this problem, a child type robot " Affetto " has been developed and a large number of compliant joints has been realized in its small body by using both rotary and linear pneumatic cylinders. However, particularly in its shoulder, ranges of motion is not sufficient to show several human-like postures. In this paper, we aim at the development of compact shoulder mechanism having five degree of freedom and wide range of motion by using air cylinders.

収録刊行物

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ