抄録
The purpose of this research is to analyze the role of walking robot's muscle. Computational model of 1-DOF leg robot with musculoskeletal system was derived. The robot's leg was moved by antagonism of two wires imitating muscles. Equation of motion for the system was obtained. Control simulation of the robot was performed based on the equation of motion. The simulation was executed on the program developed for this research. On the simulation, the robot was controlled to a desire position by torques of motors to pull wires imitating muscles.
