Art

J-GLOBAL ID：200902218387704245   Reference number：09A0523646

Torque Transmission Mechanism that Realizes from Zero to Extremely High Passive Stiffness based on Mechanical Singularity and Its Application for Robot Joint

構造的特異性を利用した零/極高剛性を実現するトルク伝達機構とそのロボット関節への応用

Author (3)： OKADA MASAFUMI (東京工大 大学院理工学研究科) ,  KINO SHINTARO (東京工大 工) ,  SUGAYA YUJI (東京工大 工)
Material： 日本ロボット学会誌  (ロボ學)
Volume： 27  Issue： 4  Page： 442-448  Publication year： May. 15, 2009 
JST Material Number： Y0482A  ISSN： 0289-1824  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *robot joint ,  *rigidity ,  property ,  walking robot ,  nonlinearity ,  Walking ,  linkage (machine element) ,  robot leg ,  hardness ,  Knee Joint ,  Torque ,  power transmission (machine) ,  quadrupedal locomotion ,  *mechanical property
Semi thesaurus term： passivism

JST classification (1)： Design,manufacturing,and components of robots  (IC04013A)

Reference (17)：

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• XU, C. Motion Control of Golf Swing Robot Based on Target Dynamics. Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2006, 2545-2550
• PAUL, R. P. C. Compliance and Control. Proc. of the 1976 Joint Automatic Control Conference. 1976, 694-699
• HANAFUSA, H. Stable Prehension by a Robot Hand with Elastic Fingers. Proc. of the 7th International Symposium on Industrial Robots, 1977. 1977, 361-368
• HOGAN, N. Mechanical Impedance Control in Assistive Devices and Manipulators. Proc. of the 1980 Joint Automatic Control Conference. 1980

Terms in the title (6)： 特異性 ,  零 ,  高剛性 ,  トルク伝達 ,  ロボット関節 ,  応用