Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid.

Original languageEnglish
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PublisherIEEE Computer Society
Pages213-218
Number of pages6
VolumePart F134101
ISBN (Electronic)9781538646786
DOIs
Publication statusPublished - Dec 22 2017
Event17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 - Birmingham, United Kingdom
Duration: Nov 15 2017Nov 17 2017

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
CountryUnited Kingdom
CityBirmingham
Period11/15/1711/17/17

Fingerprint

Tendons
Stiffness
Robots
Wire

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

Cite this

Matsutani, Y., Tahara, K., Kino, H., & Ochi, H. (2017). Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017 (Vol. Part F134101, pp. 213-218). (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2017.8246877

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. / Matsutani, Yuki; Tahara, Kenji; Kino, Hitoshi; Ochi, Hiroaki.

2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. Vol. Part F134101 IEEE Computer Society, 2017. p. 213-218 (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsutani, Y, Tahara, K, Kino, H & Ochi, H 2017, Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. in 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. vol. Part F134101, IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, pp. 213-218, 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, 11/15/17. https://doi.org/10.1109/HUMANOIDS.2017.8246877
Matsutani Y, Tahara K, Kino H, Ochi H. Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. Vol. Part F134101. IEEE Computer Society. 2017. p. 213-218. (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2017.8246877
Matsutani, Yuki ; Tahara, Kenji ; Kino, Hitoshi ; Ochi, Hiroaki. / Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. Vol. Part F134101 IEEE Computer Society, 2017. pp. 213-218 (IEEE-RAS International Conference on Humanoid Robots).
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