軽量で多軸柔軟なテンセグリティ関節
A light-weight, multi-axis compliant tensegrity joint
人間の肘に着想を得て、ケーブルの伸縮で駆動する軽量な多軸柔軟テンセグリティ関節を開発した。回転軸以外の方向にも構造的な柔軟性を持ち、人と接する不確実な環境での利用に適する。
著者: Steven Lessard, Jonathan Bruce, Erik Jung, Mircea Teodorescu, Vytas SunSpiral, Adrian Agogino
分類: cs.RO
原文アブストラクト
In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation in a person. Unlike many series elastic actuators, this joint is structurally compliant not just along each axis of rotation, but along other axes as well. Compliant robotic joints are indispensable in unpredictable environments, including ones where the robot must interface with a person. The joint also addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models.
