拮抗駆動関節による剛性とトルクの制御

空気圧アクチュエータによる実験的検討

抄録

Robots are required to have compliant joints to decrease a collision force in coming into contact with an object to be grasped or the environment. In this point, an artificial rubber muscle called Rubbertuator is promising for applications to contacting tasks, because its spring characteristics are useful to absorb the collision force. In this paper, we suggest how to control joint stiffness and torque independently by applying an impedance control to generate a required air pressure in respective two Rubbertuators which actuate a joint antagonistically. Besides, the sliding mode control, which can guarantee robust control performances against the Rubbertuator's inherent uncertain characteristics, is applied to the force control system of the Rubbertuator. Experimental results show the feasibility of proposed control system.