著者

吉田 優太郎 林 亮 舛屋 賢 高木 賢太郎 有田 輝 田原 健二

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.41, no.6, pp.573-576, 2023 (Released:2023-07-27)

参考文献数

8

---

A Straight Twisted Polymeric Fiber Actuator (STPFA) has attracted attention as a new rotational actuator because it is soft, lightweight, silent, and inexpensive. It can rotate when heating, and be back when cooling. However, it is difficult to improve the response, especially in the cooling phase when using natural cooling. In order to improve the response in natural cooling, antagonistical actuation is one of the effective methods. However, the diactivated-side actuator generates a disturbance-like torque when the other-side actuator is activated due to its passive torsional spring-like characteristics. In order to realize the antagonistical actuating module using a pair of rotational-type STPFA, in this paper, the models are constructed that can estimate the torque generated at both ends of an antagonistically arranged rotational STPFA from the change in heater resistance. A sensorless output torque control method is proposed for the total torque obtained as the difference between the torques at the two ends using the proposed STPFA models. The effectiveness of the proposed method is demonstrated through fundamental experiments using a prototype module.

著者

有田 輝 米田 将允 鈴木 陽介 下条 誠 明 愛国

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.35, no.9, pp.669-680, 2017 (Released:2017-12-15)

参考文献数

22

被引用文献数

1

---

For bipedal robots walking on uneven terrain, lack of information about a terrain may cause serious reduction of the stability. To solve the problem, the purpose of this paper is to develop a sensor which can be mounted on robot's soles and propose methods which can increase the stability of bipedal walk with the sensor. The sensor should detect information including relative posture and relative distance between the sole of the swing leg and the floor, when the robot execute the walk by ZMP-based control. In this paper, the sensor has been designed based on Net-Structure Proximity Sensor (NSPS) and a prototype has been developed. The developed sensor is with thin structure, light weight, less wirings (four wires only) and fast response (<1[ms]). Experimental results show that the sensor can output necessary relative posture and positon between the sole and the floor for walk control. Besides, the sensor has been mounted to the soles of a hobby robot and its feasibility is shown by controlling robot so that its sole can land on a tilted floor with maximum contacting area to improve the stability.