Restoring Force Design of Active Self-healing Tension Transmission System and Application to Tendon-driven Legged Robot
Shinsuke Nakashima Kento Kawaharazuka Manabu Nishiura Yuki Asano Yohei Kakiuchi Kei Okada Koji Kawasaki Masayuki Inaba Shinsuke Nakashima Kento Kawaharazuka Manabu Nishiura Yuki Asano Yohei Kakiuchi Kei Okada Koji Kawasaki Masayuki Inaba
Self-healing function is a promising approach for damage management of high-load robot applications such as legged robots. Although the function is getting major in soft robotics, its application to life-sized "stiff" robots is of relatively minor interest. Although the authors have devised several self-healing tensile modules for tendon-driven robots, the design guideline to satisfy the large loa...