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...