8 accepted papers
Self-healing robotics has been of considerable interest. We believe the function will have a major role in legged robots as a typical high-load application of robotics. Some pioneering works have been ongoing on self-healing soft robots. However, the development of large load self-healing component…
In order to achieve tasks in the real world environment, humanoid robots have motors and reduction drives optimized in relation to weight and size for providing the necessary torque and angle speed. Therefore, having torque or angle speed outside of the predicted range will usually cause the task to…
We present a torque controller for humanoid robot's arm and a method to execute heavy-load tasks under that controller. Torque control of arms can reduce the joint load when an impulsive force is applied to the robot's hand. This feature is important for robots that will work among many humans or ob…
In this paper, we develop a bipedal robot control system that has an ability to perform instantaneous high power and flexibility to absorb an impulsive disturbance. We utilize a sensor-less whole body torque control method executed in a high responsive realtime distributed system. This system also i…
This paper explains low-latency joint torque feedback control based on torque estimation on each joint for gear-driven humanoid robots with harmonic drives. Force control of gear-driven robots has an advantage in its fully variable stiffness in comparison with elastic robots. However, feedback laten…
In this paper we propose a novel method to utilize the skeletal structure not only for supporting force but for releasing heat by latent heat.
We propose a sensor-driver integrated muscle module by integrating necessarily components for tendon-driven robot which is likely to complicate. The module has abilities of high-tension measurability and flexible tension control. In order to achieve flexible tension control, we developed the new ten…
The main goal of this paper is to design and evaluate a spine structure which withstands various motions. The structure around the neck has a prevailing importance since it is involved in various motions of the upper half of the body. The new design method we introduce essentially shows how to desig…