Development of a Low-Noise Bio-Inspired Humanoid Robot Neck

摘要

106A humanoid neck system that can effectively mimic the motion of a human neck with very low motion noises is presented in this chapter. The Low-Motion–Noise humanoid neck system is based on the spring structure and is cable driven, which can generate 3 degrees of freedom of neck movement. To guarantee the low-noise feature, no noisemakers like motors, gearboxes, and electrodriven parts are embedded in the head–neck structure. Instead, the motions are driven by six polyester cables, and the actuators winching the cables are sealed in a sound insulation box. Statics analysis and control strategy of the system is discussed. Experimental results clearly show that the head–neck system can greatly mimic the motions of human head with an A-weighted noise level of 30 dB or below.