ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-R01
会議情報
1A1-R01 衝撃吸収と安定接触を両立する足機構における塑性変形の効果(脚移動ロボット)
山崎 大杉原 知道
著者情報
会議録・要旨集 フリー

詳細
抄録
This paper studies an effect of plastic deformation in the crashing process of a foot mechanism for humanoid robots. The previous mechanism that the authors developed had seriously large backlash and dry friction which caused plasticity against crash. The authors developed another mechanism which reduced backlash and have found that the shock absorption performance was rather degraded. They learned that the plastic deformation is more important than a variable-stiffness. By reducing dry friction with lubricant, deformation can be cancelled after unloading, so that the mechanical plastic deformation works for impact absorption and the following stable support.
著者関連情報
© 2014 一般社団法人 日本機械学会
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