空気圧人工筋を搭載した二次元脚ロボットの跳躍運動に関する研究

抄録

McKibben Pneumatic Actuator (MPA) is one of soft actuator. This actuator converts air pressure to tension. Lightness and high power density is charactoristic of MPA. MPA is called Pneumatic artificial muscle, used for the robots which imitate creatures, or rehabilitation equipment of limbs. MPA robot can achieve dynamic movement for example jumping and walking. MPA robot also can make steady movement by simple control. Therefore it is thought that MPA has the feature that stabilizes robot's motion. But it has not been studied thoroughly what charactor of MPA stabilizes robot's motion. To clarify the MPA feature that contributes to the realization of stable dynamic motion, we focus on jumping motion as an example of dynamic motion. We made a 2-dimension legged MPA robot and confirmed jumping of the developed robot with step inputs to MPAs. Next, We confirmed continuous jumping by periodic input and examined the relationship between the input period and jump height.