終末強制回旋機構を備えた人体模倣膝機構の実装と筋骨格ヒューマノイドによる環境接触下における動作実現  [in Japanese] Implementation of Human Mimetic Knee Joint with Screw-Home Mechanism and Achievement of Motion under Environment Contact by Musculoskeletal Humanoid  [in Japanese]

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Author(s)

    • 浅野 悠紀 Asano Yuki
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 溝口 弘悟 Mizoguchi Hironori
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 上月 豊隆 [他] Kozuki Toyotaka
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 茂木 陽太郎 Motegi Yotaro
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 白井 拓磨 Shirai Takuma
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 浦田 順一 Urata Junichi
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 中西 雄飛 Nakanishi Yuto
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 岡田 慧 Okada Kei
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo
    • 稲葉 雅幸 Inaba Masayuki
    • 東京大学大学院情報理工学系研究科知能機械情報学専攻 Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo

Abstract

Human knee joint has a yaw-axis rotational DOF and a locking mechanism called screw-home mechanism(SHM). We focus on this mechanism and implement it to a musculoskeletal humanoid through hardware design. In this paper, we first explained human knee characteristic of SHM and joint range of motion. Next, we explained hardware design and implementation method of the mechanism. As an evaluation of our developed knee joint, we checked the function of SHM from viewpoint of moment arm of the yaw rotational axis and the yaw angle displacement during squat motion. Lastly, as unique and integrated motions that involve the use of yaw DOF derived from SHM, we made several motion achievement including humanlike twisting squat, heel move motion and switch pedals, under a condition of contacting environment. This result demonstrates human mimetic rotational DOF of knee contributes motion achievement.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 32(10), 887-894, 2014

    The Robotics Society of Japan

Codes

  • NII Article ID (NAID)
    130004889594
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • NDL Article ID
    025980062
  • NDL Call No.
    Z16-1325
  • Data Source
    NDL  J-STAGE 
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