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: 2A1-Q04
会議情報
2A1-Q04 1自由度筋骨格系脚システムの開発
矢野 隆成李 在勲岡本 伸吾
著者情報
会議録・要旨集 フリー

詳細
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.
著者関連情報
© 2015 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top