1P2-E05 Evaluation Method of a Flexible Tail with Variable Stiffness Mechanisms Which Uses the Friction Between Particles

Abstract

This paper discusses the evaluation method for a flexible tail which has a function to memorize its spatial shape. If the flexible tail is memorized its shape during swing, the flexible tail give larger inertial force to a robot body than a rigid link tail. In order to evaluate the developed tail with variable stiffness mechanisms which uses the friction between particles, the evaluation method about the time until memorize its shape is discussed in this paper.