Drive-Train Design in JAXON3-P and Realization of Jump Motions: Impact Mitigation and Force Control Performance for Dynamic Motions
Kunio Kojima,Yuta Kojio,Tatsuya Ishikawa,Fumihito Sugai,Yohei Kakiuchi,Kei Okada,Masayuki Inaba,Kunio Kojima,Yuta Kojio,Tatsuya Ishikawa,Fumihito Sugai,Yohei Kakiuchi,Kei Okada,Masayuki Inaba
For mitigating joint impact torques, researchers have reduced joint stiffness by series elastic actuators, reflected inertia by low gear ratios, and friction torque from drive-trains. However, these impact mitigation methods may impair the control performance of contact forces or may increase motor and robot mass. This paper proposes a design method for achieving a balance between impact mitigatio...
