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-C06
会議情報
1A1-C06 空気圧駆動筋骨格ヒューマノイドによる弾性を活用した跳躍動作のための足裏反力制御(ワイヤ駆動系の機構と制御)
恒岡 佑哉水内 郁夫
著者情報
会議録・要旨集 フリー

詳細
抄録
The purpose of this study is constructing a foot reaction force control system to realize dynamic motions by a self-contained pneumatic-driven musculoskeletal humanoid. We aim at realization of jumping motion as one of dynamic motions by utilizing resonance. We constructed a foot reaction force control system, because foot force control can control center-of-mass motion. Center-of-mass motion is an important point to jump. We performed real world experiments in which. As the result, we got dead time of this system. And vibration amplitude of foot reaction force expanding was shown in the result of square-wave response.
著者関連情報
© 2014 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top