2A1-Q06 Investigation for the stability of standing posture and joint stiffness of robot driven by pneumatic artificial actuator based on analysis and experiments(Mechanism and Control for Actuator (1))

Abstract

In this paper, we investigate stability criterion of planar legged robot with 2 musculo-skeletal links with McKibben pneumatic actuators(MPA) at static equilibrium, considering redundancy of equilibrium condition and stiffness at the corresponding posture. Based on numerical analyses and the physical experiments, we conclude that stability at a standing posture deeply depends on dynamic characteristics of the McKibben pneumatic actuators, and the resulting body stiffness can be adjusted by combination of internal pressures to the two MPAs and open/close conditions of the air valves.