細径マッキベン人工筋を用いた筋骨格ロボットの歩行動作実現

抄録

In recent years, artificial muscles have attracted attention as a flexible and light powerful pneumatic actuator. We have developed very thin McKibben artificial muscle. In our previous researches on a musculoskeletal robot using multifilament pneumatic muscles , we have confirmed good movements of the knee, ankle, elbow, hip and shoulder joints. In this paper, we successfully realize the musculoskeletal robot walking with dynamic and cooperative joint control. Dynamic characteristics of multifilament pneumatic muscle, driving plan of multifilament pneumatic muscle with musculoskeletal simulator and implementation of walking movement by the musculoskeletal robot are discussed.