2A1-H10 Tendon-driven mechanical structures for dynamic motions

Abstract

Dynamic motions involve large changes in speed. Robots such as humanoid robots need to equip high power actuators when they make dynamic motions. However actuators with high power output are often large and heavy, and performance of available actuators is always limited. That is why we considered making the best use of actuators in dynamic motions. In this paper, we make a proposal of the way to construct tendon-driven mechanical structures for dynamic motions.