2011 Fiscal Year Final Research Report
A High-power and Flexible Humanoid Robot Driven by Artificial Muscles of Back-drvable Spiral Motors
| Project/Area Number |
19676003
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| Research Category |
Grant-in-Aid for Young Scientists (S)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Yokohama National University |
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Principal Investigator |
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| Project Period (FY) |
2007 – 2011
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| Keywords | 制御システム |
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| Research Abstract |
We developed a musculoskeletal biped robot equipped with high-thrust, gearless direct-drive spiral motors. Since the spiral motor system does not utilize reduction gears, it is free from drawbacks such as backrush, lost motion, and friction. In this research, these advantages were enhanced and the control system with high precision, high bandwidth, and high dynamic range was realized. In addition, flexible motion control against environmental external force was achieved.
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