ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-E03
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跳躍打撃動作を行う構造一体型空気圧ケーブルシリンダロボットの開発
田中 一敏西川 鋭Xi Chen新山 龍馬國吉 康夫
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Humanoid robots must execute situation-adaptive whole-body dynamic movements to protect humans. However, design of such robots have been unclear. Thus, our aim is to clarifying a design method of a robot executing a jump-hit motion representing these movements. For such a robot, we developed a light, high power and large stroke pneumatic actuation system equipped with a cable cylinder integrated in a link structure and made of custom-made plastic parts. We developed an arm robot, a leg robot, and an arm-equipped legged robot with this system and evaluated their physical performance. In experiments, the developed robot executed different jump-hit motions against a ball flying from the different directions.

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© 2017 一般社団法人 日本機械学会
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