股関節と腰関節の連動機能を考慮した２足ロボットの開発

抄録

The upper body and the lower body of previous humanoid robots has been functionally separated. On the other hand, in human, there are connected by the three-dimensional structure of psoas major. And the upper body moves when the lower body moves. It assumed that the interlocking function of psoas major contribute stabilization of whole body movement while walking. In this research, we aim to confirm the interlocking function, which caused by the three-dimensional structure of psoas major which is connected the upper and lower body, by development of biped robot. At the first, we develop a musculoskeletal biped robot which has pneumatics artificial muscles which are typical muscle that drives the lower part of a human body. Next, in order to investigate the effect of the interlocking function, we make the robot an experiment of walking motion As the result, the upper body moves by interlocking with the movement of lower body because of the three-dimensional structure of a pneumatic artificial muscle which is equivalent of psoas major.