ADAPTIVE CONTROL SYSTEM FOR RESONACE DRIVES FOR WALKING ROBOTS

摘要

Some particular aspects dealing with improving the performance of walking machines are addressed, specially those related with increasing its quickness. One possible solution to this problem can be envisaged by using more powerful actuators, but this approach is not practical because the increasing of power requires larger and heavier actuators not only for the specific drive but also for all other actuators. This leads to the increasing of the weight of the power source, and therefore to the overall increased robot's weight. In this paper questions are considered about the use of special resonance drives which increase quickness and velocity of a robot without increasing its weight.