2A2-V01 負荷感応無段変速機構を膝関節に搭載した脚機構の開発(脚移動ロボット(2))

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  • 2A2-V01 Development of leg mechanism with Load-Sensitive Continuously Variable Transmission for knee joint(Walking Robot (2))

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In this paper, we introduce Load-Sensitive Continuously Variable Transmission used for knee joints of the two-legged robot. Among the joints of the two-legged robot, the variation of the torque necessary for the actuator is especially large in knee joint. In walking motion, two phases, swing phase and stance phase exist. In these two phases, the torque necessary for the knee joint actuators changes greatly. But reduction ratio of the actuators used for joints of the robot is generally constant. To solve the problem, we introduce a Load-Sensitive Continuously Variable Transmission in the knee joints, to adapt to the variation and then to achieve efficient walking motion.

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