跳躍・舞踏用シリコンゴム腱構造付バイオミメティックアクチュエータの開発

（ゴム形状の見直しによるゴムの弾性反発特性の改善）

抄録

We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. We developed an artificial silicone rubber tendon structure for the robot to mimic animal's muscular-skeletal structure. In this paper, in order to use the tendon structure effectively, we designed new Tendon structures. The detail was that we designed wider or larger artificial tendon and thinner one. Furthermore, in order to increase the energy recovery rate, silicone rubber was attached to the sole of the Actuator. After manufacturing these, we made a bending and stretching reaction jumping and consecutive jumping according to the jumping height with the Actuator.