TY - JOUR
T1 - Leg joints torque compensation mechanism for legged locomotion (problem analysis and development of mechanism)
AU - Yamada, Yasuyuki
AU - Morita, Toshio
PY - 2013
Y1 - 2013
N2 - Legged locomotion is high environmental adaptability by the effect of ability to choose landing positions freely. But the conventional legged locomotion machines have not been able to do high efficient legged locomotion, because most of actuator outputs are wasted to support upper body weight. In this case, the methods are pointed to be effective that compensating upper body weight by mechanical device, but it has not succeeded by this method. So, we propose it with passive gravity compensation mechanisms. First, we analyzed load shifts of legs, and it is clarified that this shifting needs two compensation mechanisms on each leg. One of the two is used to support the upper body, another is used to idle leg. Second, we develop novel two mechanisms, one of the two can change in the size of the compensation force. Another can change in the direction of the compensation force. Finally, we create the desired device by combination of those mechanisms, and measure compensation force throughout the walking motion. In conclusion, the novel system enabled upper body weight-free legged locomotion by means of using most of the actuator output for walking.
AB - Legged locomotion is high environmental adaptability by the effect of ability to choose landing positions freely. But the conventional legged locomotion machines have not been able to do high efficient legged locomotion, because most of actuator outputs are wasted to support upper body weight. In this case, the methods are pointed to be effective that compensating upper body weight by mechanical device, but it has not succeeded by this method. So, we propose it with passive gravity compensation mechanisms. First, we analyzed load shifts of legs, and it is clarified that this shifting needs two compensation mechanisms on each leg. One of the two is used to support the upper body, another is used to idle leg. Second, we develop novel two mechanisms, one of the two can change in the size of the compensation force. Another can change in the direction of the compensation force. Finally, we create the desired device by combination of those mechanisms, and measure compensation force throughout the walking motion. In conclusion, the novel system enabled upper body weight-free legged locomotion by means of using most of the actuator output for walking.
KW - Balancing
KW - Fluid pipeline network
KW - Legged locomotion
KW - Mechanism
KW - Pascal's principle
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U2 - 10.1299/kikaic.79.2013
DO - 10.1299/kikaic.79.2013
M3 - Article
AN - SCOPUS:84879926951
VL - 79
SP - 2013
EP - 2024
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 802
ER -