9 accepted papers
This paper examines a planar, two-degree-of-freedom leg utilizing a redundant drive system consisting of mono- and bi-articular motors, and parallel elasticity. Based on the drivetrain energy model, a closed-form redundant torque-allocation solution using a copper loss minimization criterion is deri
The bi-articular muscle-tendon complex (MTC) in an animal's leg allows a transfer of mechanical power between adjacent joints and exertion of a large force at the toes. It is capable of storing and releasing elastic energy efficiently during motions. In our previous studies, we proposed mechanisms o
Generally, large knee joint torque is required when a leg is flexed. However, the large torque motor will increase the robot size and total weight. Also, a large reduction ratio gear box to realize the large torque will decrease output speed and lower backdrivability of the joint. It makes the robot…
The robustness of the positioning and posturing of robot hands relative to target object and support surface is an important issue for autonomous grasping. For example, to perform a grasping action such as picking up thin objects from a table top, the position and posture of the hand must be control…
Cats have protractible claws to fold their tips to keep them sharp. They protract claws while hunting and pawing on slippery surfaces. Protracted claws by tendons and muscles of toes can help cats anchoring themselves steady while their locomotion trends to slip and releasing the hold while they ret…
In this study, we propose integrated control of a robotic hand and arm using only proximity sensing from the fingertips. An integrated control scheme for the fingers and for the arm enables quick control of the position and posture of the arm by placing the fingertips adjacent to the surface of an o
Within the limbs of typical animals, there exist bi-articular muscles crossing two joints. It is known that the bi-articular muscles of the felid play an important role in the locomotion. Also the muscle-tendon complex, composed of the gastrocnemius muscle and the Achilles' tendon that cross the kne…
Quick motion and soft touch control are important for autonomous grasping. To perform a grasping action, a hand must adjust its fingertips to match the object shape. It is also necessary to reduce the fingertip velocity on contact with the object.We propose a method of fingertip velocity control for…
This study presents a robot-hand-arm system with high robustness and responsiveness by using a “Net-Structure Proximity Sensor.” The sensor, which we have developed and specially designed for a robot hand, directly detects an object being to be grasped and outputs analog voltage signals according to…