抄録
Robot that mimics the general biological limb has actuator in only each joint. However, organisms have Bi-articular muscle that moving simultaneously two joint. When viewed from the perspective of biology, Bi-articular muscle does not have not anti-gravity. But, when viewed from the perspective of robotics, it has very high anti-gravity. Bi-articular muscle there is a redundancy. Thus torque cannot be determined uniquely. Therefore, it is necessary to distribute the torque to determine the conditions for each motor. This paper has proposed torque distributor using the bi-articular muscles to gravity compensation for Quadruped walking robot. By using proposed torque distributor and Bi-articular muscles, it is possible to reduce the eneru when walking.
