Development of Novel Leg Mechanism for Biped Robot using Wire-Constraints

2017 Fiscal Year Final Research Report

• Project/Area Number: 16H06682
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Single-year Grants
• Research Field: Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: Shirafuji Shouhei 東京大学, 人工物工学研究センター, 特任研究員 (80779330)
• Project Period (FY): 2016-08-26 – 2018-03-31
• Keywords: 歩行ロボット / 脚機構 / ワイヤ拘束機構 / ロック機構 / 非円形プーリ / 平ベルト

Outline of Final Research Achievements

The objective of this research was the development the leg mechanism to realize the efficient biped walk of a robot by constraining several joint pairs using wires to follow the target trajectory and supporting the weight of robot mechanically. We proposed the design methodology of the route of wires to realize the target coordinated motion of pairs of joints by the mechanical constraints of wires. Furthermore, we determined the paths of wires to achieve the robotic leg mentioned above using the proposed method and developed the new locking mechanism to switch the wire-constrains according to the phase of walking.

Free Research Field

工学