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-Q03
会議情報
1A1-Q03 空気圧シリンダを用いて2関節筋を再現した2足歩行ロボットの開発(脚移動ロボット)
中村 拓哉高橋 庸平赤井 直紀阿部 有貴尾崎 功一
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会議録・要旨集 フリー

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Since powerful actuators are required for legged robots in practical use, it is considered that air cylinders, which have high power weight ratio, are suitable. In the report, we design a biped robot using air cylinders as actuators. For controlling air cylinders, it is difficult to apply them for mechanism of robots, since they have not enough precise positioning. Each air cylinder is attached to two links and imitates a bi-articular muscle. By the imitation, position definition precision is increased, even if the air cylinder is used as actuators. Moreover, air cylinders have damper function, and this function can be utilized for absorbing impact from a floor. This report shows these effectiveness by some inspections.
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© 2014 一般社団法人 日本機械学会
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