1P2-D05 Motion Generation by Controlling Equilibrium Position of Antagonistic Variable Elastic Mechanism

Abstract

We developed an antagonistic variable elastic mechanism (AVEM) which can control the elasticity and the equilibrium position of the joint. However, the elasticity and the equilibrium position of the AVEM change depending on the joint angle. Therefore, it was difficult to precisely make the elasticity and the equilibrium position. To overcome this difficulty, we propose a new AVEM in this paper. The elasticity and equilibrium position of the proposed mechanism do not depend on the joint angle. Moreover, we propose a new control method in which motions are generated by adjusting the equilibrium position. The performances of the proposed mechanism and the control method are demonstrated by some experimental results.