Journal Title
Title of Journal: Artif Life Robotics
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Abbravation: Artificial Life and Robotics
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Authors: Kazuyuki Ito Takehiro Yoneyama
Publish Date: 2014/09/10
Volume: 19, Issue: 3, Pages: 305-309
Abstract
In this study we develop flexible joints for a humanoid robot that walks on an oscillating plane and discuss their effectiveness in compensating disturbances Conventional robots have a rigid frame and are composed of rigid joints driven by geared motors Therefore disturbances which may be caused by external forces from other robots obstacles vibration and oscillation of the surface upon which the robot is walking and so on are transmitted directly to the robot body causing the robot to fall To address this problem we focus on a flexible mechanism We develop flexible joints and incorporate them in the waist of a humanoid robot the experimental task of the robot is to walk on a horizontally oscillating plane until it reaches the desired position The robot with the proposed flexible joints reached the goal position despite the fact that the controller was the same as that used for a conventional robot walking on a static plane From these results we conclude that our proposed mechanism is effective for humanoid robots that walk on an oscillating plane
Keywords:
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