Development of a Variable Joint Quasi-Stiffness Mechanism with High Power Output and Measurable Torque for a Biped Running Robot Utilizing Leg Elasticity
We have developed an ankle joint of the humanoid robot that can measure the joint torque. The system measures the strain of the CFRP leaf spring and calculates the torque by it. Also, the joint includes a variable joint quasi-stiffness mechanism to imitate the elasticity and the torque of human during running. Experiments confirmed that it is possible to measure the joint exerted torque.
Authors
- T. Tsuno
- Takuya Otani (ORCID: https://orcid.org/0000-0002-5514-6037)
- Hiroki Mineshita
- Yasuo Kawakami (ORCID: https://orcid.org/0000-0003-0588-4039)
- Atsuo Takanishi
- M. Kanamaru
- Hun-ok Lim
Institutions
- Waseda University (JP)
- Shibaura Institute of Technology (JP)
- Kanagawa University (JP)
Publication Details
- Journal
- Journal of the Robotics Society of Japan
- Published
- 2025-01-01
- DOI
- https://doi.org/10.7210/jrsj.43.334
- Primary Topic
- Robotic Locomotion and Control
- Type
- article
- Field-Weighted Citation Impact
- 0.00