Abstract
Pseudo-mechanism is a system which is composed of a worm gear and a force feedback control. The mechanism can behave a different mechanical feature by force feedback control, for example, like an one-way clutch, a torque-limiter and a spring by compliance control. The system can switch those features and change those properties instantly. We applied this technology to a bird-leg robot in order to reduce the landing shock and obtain the propelling force. The experiment shows that compliance feature can be achieved by a worm drive system and pseudo-mechanism controller.
