1A2-C02 非線形弾性要素を有するアクチュエータ(ANLES)を用いた拮抗駆動型関節の剛性および姿勢制御(アクチュエータの機構と制御)

抄録

This paper presents a method for mechanical stiffness control of the antagonistically driven joint using the ANLES(Actuator with Non-Linear Elasticity). This system fundamentally mimics a skeletal muscle. It requires a non-linear elastic body similar to human muscles. At first an antagonistically driven joint mechanism using the ANLES is described. It follows to show the basic formula for controlling the stiffness and the posture of the multi-D.O.F. joints by multiple-ANLES. Subsequently, this paper shows results of the position control and the stiffness control of 1.D.O.F. antagonistically driven joint. It also shows an outline of developing a 3.D.O.F. antagonistically driven joint in currently going on.