Abstract
This paper describes the bird-legs robot as the test bed of pseudo-mechanism. Pseudo-mechanism means that one mechanism imitates different mechanical features. For example, a worm gear behaves like one-way clutch, torque limiter by force feedback control. This pseudo-mechanism concept is possible to realize the high speed walking of bipedal robot. Parallel links are applied to leg structures which are driven by worm gears. Support structure of worm and force sensor structure has been improved to endure high load torque.
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