A new rotary actuator capable of rapid motion using an antagonistic cam mechanism

Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion

Research of the Intelligence of Mobile Robots using Brain Inspired Information Processing Algorithms

九州工業大学博士学位論文 学位記番号:生工博甲第140号 学位授与年月日:平成22年3月25日第1章 序論|第2章 知能化の基礎 -学習-|第3章 知能化の基礎 （ハードウェアの知能化）|第4章 ソフトウェアの知能化の例1： 照明環境適応型色認識 アルゴリズムの開発|第5章 ソフトウェアの知能化例2： 自律型水中ロボットの適応制御システムの開発|第6章 考察およびまとめ九州工業大学平成21年