An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation

摘要

The human torso is known to be highly versatile and dexterous in terms of motion capabilities and dynamic performance. Motivated by the human counterpart, we present the development of a new anthropomorphic robotic torso with comparable workspace, torques, velocities for running, and high level of mechanical robustness. In order to support large loads in ventral and lateral direction a parallel structure of actuation with tendons and a weight compensation via a spring mechanism is introduced into the system. That way, motors can be considerably downsized, which is, in turn, beneficial in terms of the dynamic characteristics of the torso. Robustness to withstand severe impacts is achieved through a clutch-based mechanism in the tendon pulleys. The entire mechanism is experimentally validated in various experiments and will be integrated as component of the compliant humanoid robot David of the DLR.