Abstract
A new torque-canceling system (TCS) that stabilizes mechanical sway of
robots in motions with large inertia by considering the dynamics of the
robot itself is discussed in this paper. The TCS cancels the reaction moment
generated by the motion of an object by considering the precise dynamics
of the object and the body of the robot itself. The dynamics and the reaction
moments are calculated using an inverse dynamics parallel solution scheme
that handles the dynamics of complex robotic structures by modeling them
with finite elements. Once the reaction moment is known, it is canceled
by applying an antitorque to a torque-generating device. The TCS was verified
by a simple experimental setup that enables rotational motion around a
single axis in the previous paper. However, the effect of the TCS was not
confirmed on those cases where mechanical sways are generated not only
in the rotational axis of a rotor but also in the orthogonal axis. Therefore,
those cases are tested to confirm the function of the TCS in multi-axial
cases in this paper. Then, the TCS is mounted on a walking robot with a
closed-loop structure and with a walking motion associated with boundary
conditions that vary during the motion. The robot sways during its walking
motion, and the validity of the TCS is verified by confirming the distances
from standard landing point after a multi-step walking sequence.