衝撃吸収機構を内蔵した偏心揺動型減速機の開発

抄録

In this paper, we describe the development of an eccentric oscillating speed reducer containing a shock absorbing mechanism. We have participated the RoboCup humanoid league and developed autonomous soccer humanoid robots. To play the soccer, the robustness is the most important requirement. When the robot fall down, the reduction gear is sometimes broken by the impulsive force. To solve that problem, we focused on the eccentric oscillating speed reducer. It is the robust gear mechanism against the impulsive force. Furthermore, we attached the shock absorbing mechanism to the reduction gear. We developed the above mentioned reduction gear mechanism. Using the mechanism, we also developed a humanoid leg. we confirmed basic functions of the humanoid leg through experiments.