Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units

Shigeki Ohta; Kazuo Hongo; Yuto Nakanishi; Ikuo Mizuuchi; Masayuki Inaba

doi:10.20965/jrm.2010.p0391

single-rb.php

« previous

JRM Vol.22 No.3 pp. 391-401

doi: 10.20965/jrm.2010.p0391

(2010)

Paper:

Views over last 60 days: 614

Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units

Shigeki Ohta^, Kazuo Hongo^, Yuto Nakanishi^*,
Ikuo Mizuuchi^**, and Masayuki Inaba^*

^*The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

^**Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8585, Japan

Received:

October 5, 2009

Accepted:

April 1, 2010

Published:

June 20, 2010

Keywords:

musculoskeletal, mechanical stiffness, humanoid, actuator unit

Abstract

It is very difficult to decide and to optimize the layouts of muscle which may completely fulfill the demands for muscle tension and joint stiffness of tendon driven systems at the design stage. However, muscle that can be easily added to the system depending on the situation makes it possible to seek optimal layouts of muscle through experimentation. This paper describes the development of two types of actuator units which can be easily added to the tendon-driven system. One is the regulable stiffness actuator unit which a nonlinear spring element is built into, and the other is an actuator unit which is smaller than actuator unit with regulable stiffness. To verify the effects of the actuator units on performance, we experiment with a musculoskeletal humanoid, Kojiro, to which the two types of actuator units developed are added.

Cite this article as:

S. Ohta, K. Hongo, Y. Nakanishi, I. Mizuuchi, and M. Inaba, “Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units,” J. Robot. Mechatron., Vol.22 No.3, pp. 391-401, 2010.

Data files:

References

[1] T. Sato, H. Uchino, H. Tatsukawa, K. Asaki, H. Noguchi, Y. Matsunobu, H. Morishita, and T. Mori, “Behavior Understanding Functions for Adaptive Personal Support System (Robotic Room 3),” IEICE. PRMU, Vol.100, No.443, pp. 21-27, 2000. (in Japanese)
[2] K. Hongo, M. Yoshida, Y. Nakanishi, I. Mizuuchi, and M. Inaba, “Development of Bilateral Wearable Device “Kento” for Control Robots using Muscle Actuator Modules,” In 18th IEEE Int. Symposium on Robot and Human Interactive Communication, pp. 897-902, September 2009.
[3] I. Mizuuchi, Y. Nakanishi, Y. Sodeyama, Y. Namiki, T. Nishino, N. Muramatsu, J. Urata, K. Hongo, T. Yoshikai, and M. Inaba, “An Advanced Musculoskeletal Humanoid Kojiro,” In Proc. of the 2007 IEEE-RAS Int. Conf. on Humanoid Robot, pp. 294-299, 2007.
[4] M. Onishi, Z. W. Luo, T. Odashima, S. Hirano, K. Tahara, and T. Mukai, “Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN,” In Proc. of the 2007 IEEE Int. Conf. on Robotics & Automation, pp. 3128-3129, 2007.
[5] N. Hogan, “Impedance Control: An Approach to Manipulation: Parts I, II, III,” J. of Dynamic Systems, Measurement, and Control, Vol.107, pp. 1-24, 1985.
[6] J. K. Salisbury, “Active stiffness control of a manipulator in cartesian coordinates,” In Proc. of the 19th IEEE Conf. on Decision and Control including the Symposium on Adaptive Processes, Vol.19, pp. 95-100, 1980.
[7] Y. Nakanishi, I. Mizuuchi, T. Inamura, and M. Inaba, “A sensor integrated muscle unit for musculo-skeletal humanoids,” In The 23rd Annual Conf. on Robotics Society of Japan, p. 2F14, September 2005. (in Japanese)
[8] K. F. Laurin-Kovitz, J. E. Colgate, and S. D. R. Carnes, “Design of components for programmable passive impedance,” In Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation, pp. 1476-1481, 1991.
[9] K. Koganezawa, Y. Shimizu, H. Inomata, and T. Nakazawa, “Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving,” In Robotics and Biomimetics, 2004, ROBIO 2004, IEEE Int. Conf., pp. 51-55, 2004.
[10] T. Shirai and T. Tomioka, “Proposal of Joint Stiffness Adjustment Mechanism SAT -Analysis and Modeling of SAT-,” In 2003 JSME Conf. On Robotics And Mechatronics, Vol.2003, pp. 2P2-2F-F1, 2003. (in Japanese)
[11] K. Koganezawa, H. Inomata, and T. Nakazawa, “Actuator with non-linear elastic system and its application to 3 DOF wrist joint,” In Mechatronics and Automation, 2005 IEEE Int. Conf., Vol.3, pp. 1253-1260, 2005.
[12] K. Hyodo and H. Kobayashi, “A study on tendon controlled wrist mechanism with nonlinear spring tensioner,” J. of the Robotics Society of Japan, Vol.11, No.8, pp. 1244-1251, 1993. (in Japanese)

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Sato, H. Uchino, H. Tatsukawa, K. Asaki, H. Noguchi, Y. Matsunobu, H. Morishita, and T. Mori, “Behavior Understanding Functions for Adaptive Personal Support System (Robotic Room 3),” IEICE. PRMU, Vol.100, No.443, pp. 21-27, 2000. (in Japanese)

[2] [2] K. Hongo, M. Yoshida, Y. Nakanishi, I. Mizuuchi, and M. Inaba, “Development of Bilateral Wearable Device “Kento” for Control Robots using Muscle Actuator Modules,” In 18th IEEE Int. Symposium on Robot and Human Interactive Communication, pp. 897-902, September 2009.

[3] [3] I. Mizuuchi, Y. Nakanishi, Y. Sodeyama, Y. Namiki, T. Nishino, N. Muramatsu, J. Urata, K. Hongo, T. Yoshikai, and M. Inaba, “An Advanced Musculoskeletal Humanoid Kojiro,” In Proc. of the 2007 IEEE-RAS Int. Conf. on Humanoid Robot, pp. 294-299, 2007.

[4] [4] M. Onishi, Z. W. Luo, T. Odashima, S. Hirano, K. Tahara, and T. Mukai, “Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN,” In Proc. of the 2007 IEEE Int. Conf. on Robotics & Automation, pp. 3128-3129, 2007.

[5] [5] N. Hogan, “Impedance Control: An Approach to Manipulation: Parts I, II, III,” J. of Dynamic Systems, Measurement, and Control, Vol.107, pp. 1-24, 1985.

[6] [6] J. K. Salisbury, “Active stiffness control of a manipulator in cartesian coordinates,” In Proc. of the 19th IEEE Conf. on Decision and Control including the Symposium on Adaptive Processes, Vol.19, pp. 95-100, 1980.

[7] [7] Y. Nakanishi, I. Mizuuchi, T. Inamura, and M. Inaba, “A sensor integrated muscle unit for musculo-skeletal humanoids,” In The 23rd Annual Conf. on Robotics Society of Japan, p. 2F14, September 2005. (in Japanese)

[8] [8] K. F. Laurin-Kovitz, J. E. Colgate, and S. D. R. Carnes, “Design of components for programmable passive impedance,” In Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation, pp. 1476-1481, 1991.

[9] [9] K. Koganezawa, Y. Shimizu, H. Inomata, and T. Nakazawa, “Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving,” In Robotics and Biomimetics, 2004, ROBIO 2004, IEEE Int. Conf., pp. 51-55, 2004.

[10] [10] T. Shirai and T. Tomioka, “Proposal of Joint Stiffness Adjustment Mechanism SAT -Analysis and Modeling of SAT-,” In 2003 JSME Conf. On Robotics And Mechatronics, Vol.2003, pp. 2P2-2F-F1, 2003. (in Japanese)

[11] [11] K. Koganezawa, H. Inomata, and T. Nakazawa, “Actuator with non-linear elastic system and its application to 3 DOF wrist joint,” In Mechatronics and Automation, 2005 IEEE Int. Conf., Vol.3, pp. 1253-1260, 2005.

[12] [12] K. Hyodo and H. Kobayashi, “A study on tendon controlled wrist mechanism with nonlinear spring tensioner,” J. of the Robotics Society of Japan, Vol.11, No.8, pp. 1244-1251, 1993. (in Japanese)

Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units

Shigeki Ohta*, Kazuo Hongo*, Yuto Nakanishi*, Ikuo Mizuuchi**, and Masayuki Inaba*

Shigeki Ohta^, Kazuo Hongo^, Yuto Nakanishi^*,
Ikuo Mizuuchi^**, and Masayuki Inaba^*