単一バルブ操作のみで跳躍動作を実現する空気圧駆動筋骨格ロボット

抄録

This paper describes realization of vertical jumping motion by a one-legged pneumaticdriven musculoskeletal robot designed by our design method. Maximum air supplying to muscles of the robot during a motion is desirable for dynamic motions such as jumping motions. We proposed a design method of pneumatic-driven musculoskeletal robots that generate specific direction force with non-circular pulleys by maximum air supplying. Using the design method, a robot that generates specific direction force by maximum air supplying can be designed. In this paper, we report design of a one-legged pneumatic-driven musculoskeletal robot based on the design method and a vertical jumping experiment with the robot. As a result, we verified success of the vertical jumping motion with the robot. Problems specific to pneumatic-driven musculoskeletal structures are suggested by the result that measured joint angle sequence has error and delay.