セッションID: 2P1-E02
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
空気圧人口筋を搭載した二次元脚ロボットの足踏み動作における関節剛性の解析
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
A McKibben-type pneumatic actuator(MPA) is widely used for a robot with a simple actuator model and a simple control method. This paper aimed at to investigate the effect of its characteristics on the stability by focusing on periodic motions. We developed a 2-DOF legged robot equiped with four MPAs per leg; two MPAs arranged in antagonistic pairs around the hip and knee. We verified that the developed robot could realize a motion of stamping foot.Moreover, we analyzed the changes of the joint stiffness in the stamping motion of the developed robot. The result indicated that the joint stiffness of the hip joint depends not only on the pressure input to MPAs of the hip but also on that of the knee.
