研究者情報 | 神奈川大学

ミネシタ　ヒロキ Mineshita Hiroki 峯下　弘毅所属神奈川大学工学部機械工学科職種助教
発表年月日	2020/09/20
発表テーマ	Development of a Trapezoidal Leaf Spring for a Small and Light Variable Joint Stiffness Mechanism
発表学会名	ROMANSY 23 - Symposium on Robot Design, Dynamics and Control
主催者	CISM-IFToMM
学会区分	国際学会
発表形式	口頭（一般）
単独共同区分	共同
開催地名	Online
発表者・共同発表者	Hiroki Mineshita, Takuya Otani, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, and Atsuo Takanishi
概要	Herein, we have developed a humanoid robot that achieves dynamic motion. Focusing on the running motion that is the basis of the motion, the robot has been developed focusing on the pelvic rotation on the frontal plane and the elasticity in leg joints (that changes according to running speed), which are the characteristics of humans during running. However, the variable joint stiffness mechanism that we have developed was large and heavy. Therefore, to make the mechanism smaller and lighter, we shorten the length of the leaf spring. We succeeded in downsizing the mechanism by changing its rectangular shape to trapezoidal, while maintaining strength and elasticity. The variable joint stiffness mechanism thus developed was more flexible, and its weight was reduced from 1.9 kg to 0.7 kg. The mechanism was mounted on the ankle joint, and it was confirmed that the required specifications were satisfied.