ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-E02
会議情報
2A2-E02 リニア電磁アクチュエータ駆動型一脚ロボットの開発(脚移動ロボット)
仲田 佳弘大林 史尚平田 勝弘石黒 弘
著者情報
会議録・要旨集 フリー

詳細
抄録
We have been studying an interior permanent magnet linear actuator as an artificial muscle. This actuator has long stroke, high response and large thrust using interior permanent magnets effectively and can emulate the spring-dumper characteristics of a human muscle by quick control of the output force, i.e. impedance control. In this paper, we develop a monopedal robot possessing bi- and mono-articular muscles implemented by electromagnetic linear actuators. Thanks to the biarticular muscle, the stiffness ellipse at the endpoint (foot) of the robot can be changed. The bouncing direction of the robot we developed can be controlled by adjusting the stiffness ellipse when the robot touches down to the ground. We also develop a small size current control circuit for the electromagnetic linear actuator to downsize a control system.
著者関連情報
© 2011 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top