マリオネットロボットの多様な運動の実現

抄録

Aiming to generate various motions of an underactuated marionette robot, the novel design method with less actuators is proposed and is experimentally examined. The marionette robot is composed of a human type puppet with 12 DOF and with only passive revolute pairs and a controller with six sliders moving on six rotating arms which drive the puppet with wires. The forward kinetostatics analysis can be achieved with the optimization to minimize gravitational potential energy of the puppet. The minimum necessary actuators configuration for the desired motion of the puppet can also be obtained with the inverse kinetostatics analysis to minimize motion error. Since a prototype can experimentally generate the desired various motions while changing sliders to be fixed, it is confirmed that the proposed method is effective and useful.