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: 1A1-C05
会議情報
1A1-C05 モータ駆動腱を用いた空気圧人工筋の予備伸張による初期加速度の増大(ワイヤ駆動系の機構と制御)
中島 慎介上月 豊隆白井 拓磨浅野 悠紀垣内 洋平岡田 慧稲葉 雅幸
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会議録・要旨集 フリー

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抄録
Conventional tendon driven robots have difficulties in achieving explosive movements because of antagonism which a muscle's contraction is blocked by the other one in the opposite side. This research is focusing on solving this problem and utilizing antagonism as a power amplifier with hybrid actuation method composed of electrically driven tendon and pneumatic artificial muscle which are connected serially. A pneumatic muscle tensed with motor-driven tendon can function as an energy storage which is so significant in achieving explosive movements such as jumping and kicking for a tendon driven legged robot. We introduce the method and illustrate its validity with lifting expriment by 1-axis test bench.
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© 2014 一般社団法人 日本機械学会
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