Abstract
Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.
https://ror.org/02278tr80 
