Abstract
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 requites 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 3.D.O.F. It is scheduled to make new structure of 3.D.O.F. wrist joint for an anthropomorphic robot from results of these
