跳躍・舞踏ロボット用腱構造付アクチュエータの開発

(Ｏリング腱構造の開発と着地エネルギの利用の成功)

抄録

We have been developing motor-tendon-joint series connection type biomimetic actuators to make robots act jumping, running and dancing. In this paper, in order to use the tendon structure effectively, we designed new tendon structure In order to increase the energy recovery rate, we investigated effects of shape of the tendon structure. We found the matching of the natural frequency of the tendon rubber jumping timing was important.