1A1-B08 過負荷保護のための腱駆動磁気脱臼関節の開発(ワイヤ駆動系の機構と制御)

Abstract

In this research, we propose a 2DOF joint of quadruped robot that can dislocate to protect the robot from overload. Proposed 2DOF joint can dislocate with excess load from arbitrary orientation. The design specification is determined by motion analysis of a dog. By using this 2DOF dislocatable joint, we designed a leg of quadruped robot. The Structure of the prototype and fundamental operation of the movement is reported.