Transmission torque linearization of quadruped robot with a two-joint simultaneous drive mechanism for gravity compensation

Abstract

This paper proposes a transmission torque linearization method for a leg robot using bi-articular simultaneous drive mechanism. A planetary gear is the primary mechanism of a bi-articular simultaneous drive system. Energy consumed for walking is reduced by the use of bi-articular muscles. However, the planetary gear causes a torque transmission loss in the… (More)

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Cite this paper

@article{Ueda2015TransmissionTL, title={Transmission torque linearization of quadruped robot with a two-joint simultaneous drive mechanism for gravity compensation}, author={Keisuke Ueda and Toshimasa Miyazaki and Kiyoshi Ohishi}, journal={IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society}, year={2015}, pages={005156-005161} }