Examination of Actuators for Robots That Provide Low-Torque in Quick-Motion and High-Torque in Slow-Motion.

Research Project

Project/Area Number	20760158
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Single-year Grants
Research Field	Intelligent mechanics/Mechanical systems
Research Institution	Ibaraki University
Principal Investigator	FUKUOKA Yasuhiro Ibaraki University, 工学部, 准教授 (40418679)
Project Period (FY)	2008 – 2009
Project Status	Completed (Fiscal Year 2009)
Budget Amount *help	¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000) Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000) Fiscal Year 2008: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords	メカトロニクス / アクチュエータ
Research Abstract	Out aim is to realize an artificial musculo-actuation system that provides low torque in quick motion and high torque in slow motion according to its state. To begin with, we built the proposed actuation system and did its performance test, and eventually acquired fine data between the torque and the stiffness. From this, we applied the system to a quadruped robot and achieved smoothly the ability to walk slowly with low torque and swiftly with high torque. Thus, we demonstrated the efficiency of our system.

Report

(3 results)