20918 ストランド筋型6脚ロボットの高効率高速動作(ロボットの計測と制御)

抄録

The Strand-muscle actuator is a vertebrate-joint-like actuator. With its nonlinear elastic characteristics, it realizes angle/stiffness control by antagonistic muscles. Moreover efficient walk is realized by utilizing the actuators' elastic property and the inertia force by the motion. In this report it is shown that the fast energy efficient walk of a 6-legged robot is possible by optimizing the intermittent actuator drive pattern.