Abstract
We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. We proposed and have been developing the silicone rubber tendon structure for the robot to model the muscular-skeletal system of the animal, and act like tendons of animals. In the previous paper, we succeeded to decrease vibration by introducing the blend control method of a feedback control and a feedforward control. In this study, aiming to reduce the vibration, we reconstructed the actuator to add the vibration reduction motor. The jumping experimental results showed that this actuator can reuse the elastic strain energy of the silicone rubber stored by the landing shock as a jumping kinetic energy. The jumping height becomes larger as a order of 1: continuous jumping (largest), 2: jumping from bending and stretching reaction, 3: jumping from full bending posture (smallest). The jumping height of the actuator with the vibration reduction motor, however, is lower than the simple one motor actuator. We also made a self-standing type test bench.
