Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Lohmeier, S., Buschmann, T., Ulbrich, H.: Humanoid Robot LOLA. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA (2009)
Ogura, Y., Aikawa, H., Shimomura, K., Morishima, A., Lim, H., Takanishi, A.: Development of a new Humanoid Robot WABIAN-2. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA (2006)
Pratt, J., Krupp, B.: Design of a Bipedal Walking Robot. In: Proceedings of the SPIE (2008)
Vanderborght, B.: Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness. Springer, Heidelberg (2010)
Edsinger, A., Kemp, C.C.: Human-Robot Interaction for Cooperative Manipulation: Handing Objects to One Another. In: Proceedings of the 16th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN (2007)
Oztop, E., Franklin, D.W., Chaminade, T., Cheng, G.: Human-Humanoid Interaction: Is a Humanoid Robot Perceived as a Human? International Journal of Humanoid Robotics (2005)
Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., Fujimura, K.: The Intelligent ASIMO: System Overview and Integration. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (2002)
Tsagarakis, N.G., Metta, G., Sandini, G., Vernon, D., Beira, R., Becchi, F., Righetti, L., Santos-Victor, J., Ijspeert, A.J., Carrozza, M.C., et al.: iCub: The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research. In: Advanced Robotics (2007)
Daerden, F., Lefeber, D.: Pneumatic Artificial Muscles: Actuators for Robotics and Automation. European Journal of Mechanical and Environmental Engineering (2002)
Raibert, M.H., Brown, H.B., Chepponis, M.: Experiments in Balance with a 3D One-legged Hopping Machine. The International Journal of Robotics Research (1984)
Website of the ALEAR-Project (Artificial Language Evolution on Autonomous Robots), http://www.alear.eu/
Hild, M., Siedel, T., Benckendorff, C., Kubisch, M., Thiele, C.: Myon: Concepts and Design of a Modular Humanoid Robot Which can be Reassembled During Runtime. In: Proceedings of the 14th International Conference on Climbing and Walking Robots, CLAWAR (2011)
Siedel, T.: Entwicklung eines Elektromechanischen Antriebssystems für Gehroboter in Anlehnung an Biologische Prinzipien. Master’s thesis, Rheinische Fachhochschule Köln (2009)
Benckendorff, C.: Technische Realisierung Multimodaler Sensorik für Humanoide Roboter. Master’s thesis, Humboldt-Universität zu Berlin (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Siedel, T., Hild, M., Weidner, M. (2011). Concept and Design of the Modular Actuator System for the Humanoid Robot MYON. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_39
Download citation
DOI: https://doi.org/10.1007/978-3-642-25486-4_39
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25485-7
Online ISBN: 978-3-642-25486-4
eBook Packages: Computer ScienceComputer Science (R0)