Human mimetic musculoskeletal humanoid Kengoro toward real world physically interactive actions

Asano, Yuki; Kozuki, Toyotaka; Ookubo, Soichi; Kawamura, Masaya; Nakashima, Shinsuke; Katayama, Takeshi; Yanokura, Iori; Hirose, Tadaki; Kawaharazuka, Kento; Makino, Shogo; Kakiuchi, Youhei; Okada, Kei; Inaba, Masayuki

doi:10.1109/humanoids.2016.7803376

Cited by 78 publications

(44 citation statements)

References 16 publications

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“…If the motor shape is simplified as a cylinder, the volume and surface area of the motor can be expressed as V = πr 2 l and S = 2πr 2 + 2πrl, respectively, where V is the volume, S is the surface area, r is the radius, and l is the length of the cylinder. The relationship between the volume and surface area can be rewritten as V = Sr − 2πr 3 , and its derivative is defined by Equation (6). Therefore, the surface area relative to the volume becomes minimum at l = 2r.…”

Section: Geometry and Thermal Characteristics Of Motorsmentioning

confidence: 99%

“…In order to investigate the thermal advancement of the CoSMo actuator, the following simulation was considered. A popular method for simple analysis of the thermal characteristics of motors is the simplified thermal equivalent circuit (STEC) analysis method [3,9]. Figure 5a shows a STEC with two resistances.…”

Section: Analysis Using a Thermal Equivalent Circuitmentioning

confidence: 99%

“…This trend has generated a growing interest in the performance improvement of multi-degree-of-freedom (multi-DOF) robot arm systems, along with the need to develop smaller motors with higher power densities [1]. However, as the pace of motor performance development slows down, various technical innovations are underway to optimize the installation environment of the actuator (e.g., specialized housing and forced cooling devices) [2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

“…The parameters that determine the extent of performance improvement achieved by forced cooling are the thermal resistance and thermal capacitance of the winding and housing [2][3][4][5], which vary according to the motor's geometrical characteristics, slot type, and manufacturing method. Therefore, to compare the thermal characteristics of motors objectively, it is necessary to establish the relationship between parameters such as volume, surface area, slot type, thermal resistance, and capacitance.…”

Section: Introductionmentioning

confidence: 99%

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Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems

et al. 2018

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This paper proposes a concentrically stacked modular (CoSMo) actuator with rotary electric motors to implement multi-degree-of-freedom (multi-DOF) robotic systems with high power densities. The CoSMo actuator shows a novel design concept, which enables the actuator module with an integrated radiator to be combined in series and cooled by a single fan. This unique system has elevated thermal characteristics owing to the heatsink sharing effect. This enables the module to carry higher current by decreasing the temperature-rise rate. Also, the proposed design concept reduces the number of components required for cooling and allows the actuator to be placed concentrically, which contributes to the system having low mechanical impedance and higher power output per unit mass. The thermal characteristics and feature of the CoSMo actuator were analytically and numerically verified by simulation using a simplified model. To advance the thermal characteristics of the system further, the adequate actuator types for the CoSMo actuator were analyzed and a prototype was fabricated based on the analysis. Through the experiment using the prototype, we verified that the maximum continuous current that can be applied to the CoSMo actuator is up to about three times greater than the rated current in a forced air-cooling environment.

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Section: Geometry and Thermal Characteristics Of Motorsmentioning

confidence: 99%

Section: Analysis Using a Thermal Equivalent Circuitmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems

et al. 2018

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“…The drives are relocated from the joints, and the joints are controlled by tendons wound on reels. The following are some of the implemented tendon-driven robots: the tendon-controlled humanoids Kenshiro, with 64 joint degrees of freedom (DOFs); Kengoro, with 114 joint DOFs without hands (Nakanishi et al, 2012; Asano et al, 2016, 2017); and ECCEROBOT (Wittmeier et al, 2013), which is a fully anthropomorphic, compliantly driven robot. Relocation of the actuators from the arms to the body of the robot reduces the inertia of the arms, which are then lighter and require less energy for control, but elastic elements cause more pronounced oscillations.…”

Section: Introductionmentioning

confidence: 99%

Cascade Control of Antagonistic VSA—An Engineering Control Approach to a Bioinspired Robot Actuator

2019

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A cascade control structure for the simultaneous position and stiffness control of antagonistic tendon-driven variable stiffness actuators (VSAs) implemented in a laboratory setup is presented in the paper. Cascade control has the ability to accelerate, additionally stabilize, and reduce oscillations, which are all extremely important in systems such as a tendon-driven compliant actuators with elastic transmission. Inner-loop controllers are closed in terms of motor positions, and outer-loop controllers in terms of actuator position and estimated stiffness. The dominant dynamics of the system (position and stiffness), composed of the mechanical part and inner loops, are identified by a closed-loop auto-regressive with exogenous input (ARX) model. The outer-loop controllers are tuned on the basis of experimentally identified transfer functions of the system in several nominal operating points for different stiffness values. After the system is identified, a controller bank is generated in which a pair of actuator position and stiffness controllers correspond to a nominal operating point and covers the area surrounding the nominal point for which it is designed. The controllers used are integral-proportional differential (I-PD) and integral-proportional (I-P) controllers, which are a variation of the PID and PI controllers with dislocated proportional and derivative gains from a direct to feedback branch that result to no overshoot for even fast reference changes (i.e., step signal), which is essential for preventing tendon slackening (meeting the pulling constraint). Analytical formulas for controller tuning based on only one parameter, λ, are also presented. Since position and stiffness loops are decoupled, it is possible to change λ for both loops independently and adjust their performance separately according to the needs. Also, the controller structure secures the smooth response without overshooting step reference or step disturbance signal, which make practical implementation possible. After all the controllers were designed, the cascade control structure for simultaneous position and stiffness control was successfully evaluated in a laboratory setup. Thus, the presented control approach is simple to implement, but with a performance that ensures a pulling constraint for tendon-driven actuators as a foundation for bioinspired antagonistic VSAs.

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System Architecture and Real-World Task Realization of Musculoskeletal Wheeled Robot Musashi-W with Various Hardware Components

Miki,

Kawaharazuka,

Bando

et al. 2024

Lecture Notes in Networks and Systems

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Human mimetic musculoskeletal humanoid Kengoro toward real world physically interactive actions

Cited by 78 publications

References 16 publications

Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems

Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems

Cascade Control of Antagonistic VSA—An Engineering Control Approach to a Bioinspired Robot Actuator

System Architecture and Real-World Task Realization of Musculoskeletal Wheeled Robot Musashi-W with Various Hardware Components

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