Concept and Design of the Modular Actuator System for the Humanoid Robot MYON
نویسندگان
چکیده
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.
منابع مشابه
Flexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملMyon, a New Humanoid
This chapter introduces the modular humanoid robot Myon, covering its mechatronical design, embedded low-level software, distributed processing architecture, and the complementary experimental environment. The Myon humanoid is the descendant of various robotic hardware platforms which have been built over the years and therefore combines the latest research results on the one hand, and the expe...
متن کاملMechatronic Hand Design with Integrated Mechanism in Palm for Efficiency Improve of the Finger.
One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...
متن کاملMyon: Concepts and Design of a Modular Humanoid Robot Which Can Be Reassembled During Runtime
We describe the design concepts of the modular humanoid robot Myon, which can be disassembled and reassembled during runtime. The body parts are fully autonomous in a threefold sense: they all possess their own energy supply, processing power, and a neural network topology which allows for stand-alone operation of single limbs. The robot has especially been designed for robustness and easy main...
متن کاملDirect adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...
متن کامل