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2 2010

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The study of bio-inspired robot motion control system

100%

Matsuo T. , Yokoyama T. , Ueno D. , Ishii K.

tom Vol. 4, No. 2

55-61

Robots and robotics technologies are expected as new tools for inspection and manipulation. The dynamics of robot always are changed by environment and robot of state in mission. Therefore, an adaptation system, which is able to switch controller due to environment and robot of state, is needed. Meanwhile, animals are able to go through several environments and adapt several own states. The adaptation system is realized Central Pattern Generator (CPG). CPG exists in nervous system of animals and generates rhythmical motion pattern. In this paper, a robot motion control system using CPG is proposed and applied to an amphibious multi-link mobile robot.

Development of antagonistic wire-driven joint employing kinematic transmission mechanism

100%

Sonoda T. , Nishida Y. , Nassiraei A. A. F. , Ishii K.

tom Vol. 4, No. 2

62-70

Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However, these devices have difficulties in control caused by complex and nonlinear properties, downsizing of actuator, and response time of articular compliance. In order to solve these problems, we propose a new antagonistic joint mechanism using kinematic transmission mechanism (KTM), which is composed of links and cams with dedicated design. The performance of KTM is evaluated through stiffness and position control simulations and experiments.