著者

浦田 順一 中西 雄飛 岡田 慧 稲葉 雅幸

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.28, no.7, pp.865-871, 2010 (Released:2012-01-25)

参考文献数

9

被引用文献数

2 3

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In this paper, we show a high power prototype biped robot for application of nursing or running or jumping motions. Light and powerful actuators are required to realize the high-power performance. We propose a method to bring out maximum performance of electric motors aggressively. The technique of motor core temperature estimation and control improves the motor power performance dramatically but safely without motor burnout. High power acctuator system and robust interbody network are depeloped for high power robot. Fundamental demonstrations of high power motion are shown.