空気圧人工筋肉とMRブレーキを用いた跳躍ロボットによる着地を考慮した垂直跳躍実験

抄録

Bipedal robots capable of various dynamic motions―such as walking, running, and jumping―have been developed in recent years. In particular, these dynamic motions require high power in short time when the robot kicks off the ground. Furthermore, it is necessary to reduce the impact force that a robot is subjected to when landing during these motions. So we focus on the method for obtaining high output by using the elastic energy. But, when the only elastic element is used, the robot is vibrated. Therefore, in this study, we focused on a straight-fiber-type artificial muscle and a magnetorheological (MR) brake for the elastic element and the viscosity and friction element, respectively. In this paper, we conducted the vertical jumping experiment using the robot. And by comparing with the experimental results and the simulation results, the utility of the model was confirmed.