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To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion...
This paper experimentally verifies the performance of a switched reluctance (SR) motor made of permendur. The permendur, which is an alloy created by mixing 49% cobalt with iron, has extremely high saturation flux density and very low core loss. Two types of 12/8-pole SR motors which have the same dimensions but different core material; one is conventional non-oriented Si steel and the other is permendur,...
This paper investigates the possibility of utilizing a switched reluctance (SR) motor made of permendur. Motor torque, iron loss, and efficiency of the SR motor are evaluated by finite element method (FEM). Furthermore, a suitable structure for the SR motor made of permendur is presented.
This paper proposes a dynamic analysis method for a new spiral resonant actuator with two-degree-of-freedom employing the 3-D finite element method (FEM), and the dynamic characteristics of the actuator are quantitatively clarified using this method.
This paper presents a dynamic analysis method of a novel spherical resonant actuator using the three-dimensional finite element method (3-D FEM). In this method, the magnetic field equation is coupled with the electric circuit equation and the motion equation, and the mesh modification method using the Laplace equation is applied to the rotation of a spherical actuator.
An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint...
This paper presents a dynamic analysis method of an electromagnetic impact (EMI) drive mechanism by 3-D finite element method (FEM). The transient and EMI torque are computed when the interlinkage flux of conductor is rapidly changed. The usefulness of this method is confirmed by comparing the calculated results with the measured ones
This paper presents a dynamic response analysis method of an electromagnetic impact drive mechanism by 3-D finite element method (FEM). The electromagnetic impact (EMI) torque is computed from the eddy current when the ring magnet is suddenly inserted into the gap of high magnetic flux
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