Design and development of a new robot joint using a mechanical impedance adjuster

Morita, Takeshi; Sugano, Shigeki

doi:10.1109/robot.1995.525630

Cited by 124 publications

(67 citation statements)

References 4 publications

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“…Morita and Sugano (1995) used a spring leaf with varying length in order to induce nonlinearities on the spring. The construction, however, was difficult and errorprone, and led to a complex non-linear transfer function.…”

Section: The Dlr Approachmentioning

confidence: 99%

Robotics of human movements

Smagt

Grebenstein

Urbanek

et al. 2009

Journal of Physiology-Paris

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a b s t r a c tThe construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.

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Section: The Dlr Approachmentioning

confidence: 99%

Robotics of human movements

Smagt

Grebenstein

Urbanek

et al. 2009

Journal of Physiology-Paris

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“…Usually compliance is changed by adjusting the active length of a spring or the deflection point on a beam. Several groups have developed structurally controlled stiffness mechanisms [19][20][21], though none of them have been applied toward the development of autonomous dynamic legged locomotion systems.…”

Section: Variable Passive Compliant Actuatorsmentioning

confidence: 99%

Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running

Galloway

Clark

Koditschek

2007

Volume 10: Mechanics of Solids and Structures, Parts a and B

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Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg intelligence into passive compliant mechanisms. One of the limitations of this approach is reduced adaptability: the final leg mechanism usually performs optimally for a small range of conditions (i.e. a certain robot weight, terrain, speed, gait, and so forth). For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a variable stiffness leg to tune the natural frequency of the system for effective gait control. In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new approach specifically for autonomous dynamic legged locomotion. We introduce a simple leg model that captures the spatial compliance of the tunable leg in three dimensions. Lastly, we present the design and manufacture of the multi-directional variable stiffness legs, and experimentally validate their correspondence to the proposed model. Disciplines Engineering Comments

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“…One of them uses a spring leave of which the active length is changed by an extra actuator. This principle has also been used for the "Mechanical Impedance Adjuster" (Morita et al, 1995) developed at the Sugano Lab. And a complete 3D joint with variable compliance, by using only 2 motors, has been developed (Okada et al, 2001) for a shoulder mechanism, but the compliances of the different DoF's are coupled.…”

Section: Variable Compliance Actuatorsmentioning

confidence: 99%