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

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