Concept and Design of the Modular Actuator System for the Humanoid Robot MYON

被引：0
|
作者：
Siedel, Torsten [1 ]
Hild, Manfred [1 ]
Weidner, Mario [1 ]
机构：
[1] Humboldt Univ, Neurorobot Res Lab, D-10099 Berlin, Germany
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT I: ICIRA 2011 | 2011年 / 7101卷
关键词：
humanoid robot; modular actuators; compliant actuators; parallel actuation; serial elasticity;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
When developing a humanoid robot, the choice of the system driving its joints is of crucial importance for the robot's robustness, technical reliability, ease of maintenance, as well as its degree of autonomy. Here, we present a novel, modular actuator system of the humanoid robot MYON. Both the concept of the actuator system and the composition of the individual modules which it consists of are described. In addition to the design of the robot's joints the way how the actuator components are integrated in the assembly of MYON is addressed. Finally, the characteristics of the different modes of actuating the joints by the actuator system are explained, and future prospects of its application considered.
引用
收藏
页码：388 / 396
页数：9
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