(H6)Control of Position and Compliance of Elastic Links

In oder to develop a new elastic manipulator which can softly interacts to environments, a coil spring was driven by two wires and was controlled its tip position and stiffness. The wire driven elastic link was also applied to a legged walking robot.

Fig.1 Fig.2
Wire Driven Coil Spring A Walking Robot with Four Wire Driven Elastic Legs

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