Abstract
This paper presents a direct teaching method using the characteristic of the pneumatic artificial muscle(PAM) for Musculoskeletal robot arm. The posture of the robot is determined by the lengths of PAMs. In order to replay motions, it is needed to replay the length of PAMs. The way of getting the length is measuring or estimating. However, mounting length sensors is space consuming. Additionaly, estimating length is needed to use intrinsic parameters of PAMs which are difficult to measure. In order to avoid these problems, the proposed method calculates internal pressures of PAMs, which equalizes lengths of PAMs in the replaying phase and the lengths in the teaching phase. The proposed method can also apply moving robots because it isn't involved the state of robots. We conducted teaching experiments using a real musculoskeletal robot arm.
