No abstract

Safety and general versatility are necessary for robots to perform various tasks in human living area. There are tendon based manipulators with nonlinear springs as a manipulator for the requirement. Tension distribution which converts from joint space to tendon space are necessary to control such tendon mechanisms. A conventional tension distribution method using pseudo inverse matrix or inverse matrix of jacobian can not consider tension limits. On the other hand, advantages of structures utilizing bilogical extremities attract much attention. In this paper, we focus on an advantage of musculoskeletal model which contributes to simple algebraic calculation when deriving tension commands. And we develop a tension distribution method which can consider tension limits for musculoskeletal model of biological extremities. Its effectiveness as a part of whole control system is verified by simulations.

In this paper, a static analysis and static loading tests were conducted to verify the effects of shear span and axial force on structural performance of CES columns with wing wall in the one side. It was indicated through the analytical results that the shear span length of column became about half of the column height when the column was subjected to compression in the bottom, while the shear span length of column became about column height when the column was subjected to compression at wing wall in the bottom. In the experimental results, the shear failure of the wing wall tends to occur earlier, because significant shear cracks occurred in the wing wall in the opposite loading direction. In addition, it was confirmed that the shear failure at wing wall in the top tended to occur in the loading direction when subjected to high compression axial force at column in the bottom.