Realizing Dynamic Motion Based upon Constant Torque Control by Using Two-link Three-Pair Six-Muscle Flexible Jointed Robot Arm

- 1st. Report, Implimentation of Monoarticular and Bi-Articular Muscles -

Abstract

We aim to experimentally understand the influence of bi-articular muscles by using the robot arm with bi-articular muscles. Imitating the human upper arm, we had developed a two-link three-pair six-muscle flexible jointed robot arm which has two pairs of mono-articular muscles and a pair of bi-articular muscles. Torque-controllable servomotor with a reduction gear of low reduction ratio is used for the actuators. By using the flexible jointed robot arm, we experimentally understand the influence of bi-articular muscles on dynamic motion in the process of realizing dynamic continuous motion typified by striking and throwing based on constant torque control.