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ICRA
2003
IEEE

Double spherical joint and backlash clutch for lower limbs of humanoids

10 years 5 months ago
Double spherical joint and backlash clutch for lower limbs of humanoids
In this paper, we develop tw o mechanisms for improving humanoid robot motions. The double spherical joint is a six DOF mechanism whose axes intersect in one point. This mechanism is for humanoid hip joints with a waist join t function without increasing an actuator.The backlash clutc h realizes a high torque driving and a really free join tusing backlash mechanism, and it is used for knee joints. The free mode will play a roll in humanoid behavior that is dynamically coupled with the environment. The humanoid robot with these t w o mechanisms is developed and results of preliminary experiments are to be shown.
Masafumi Okada, Tetsuya Shinohara, Tatsuya Gotoh,
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Masafumi Okada, Tetsuya Shinohara, Tatsuya Gotoh, Shigeki Ban, Yoshihiko Nakamura
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