Paper Info
Title
Tendon routing resolving inverse kinematics for variable stiffness joint
Abstract
Recently, the tendon-driven mechanism with variable joint stiffness has received attention for use in the development of a humanoid robot operated in an uncertain environment with physical contact. In this paper, we propose a mechanism to control the position and joint stiffness of a tendon-driven manipulator independently, using dedicated actuators. This mechanism consists of two parts: a component that transforms the movements of the tendons to activate the actuators, and a component that applies tensile forces to adjust the joint stiffness. We named this mechanism “tendon routing resolving inverse kinematics” (TRIK). The methodology for designing this mechanism for various tendon-driven manipulators is presented with several examples. We designed TRIK for a manipulator with one degree of freedom and nonconstant-moment arms. Finally, experiments of variable joint stiffness with nonlinearly elastic components were conducted to validate the proposed mechanism.
Year
DOI
Venue
2014
10.1109/IROS.2014.6943108
IROS
Keywords
Field
DocType
tensile forces,tendon-driven manipulators,tendon routing resolving inverse kinematics,humanoid robots,tensile strength,actuators,manipulator kinematics,elasticity,variable joint stiffness
Joint stiffness,Degrees of freedom (statistics),Inverse kinematics,Stiffness,Control theory,Computer science,Control engineering,Transmission system,Tendon,Structural engineering,Actuator,Humanoid robot
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
9
3
Name
Order
Citations
PageRank
Shouhei Shirafuji12010.19
Shuhei Ikemoto25218.33
Koh Hosoda373.39