Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
It is widely known that musculoskeletal robots driven using McKibben pneumatic actuators can realize dynamic motion such as walking and jumping by simple controls. However, the design of pressure inputs of these robots is depended on trial and error, and a quantitative design method has not yet been established. In this paper, we studied a toe trajectory control method for a 2 DOF legged robot with four MPAs. We proposed a quantitative design method of input pressures for any periodic leg trajectory, and confirmed the validity of the method via simulations and experiments. From simulations and experimental results, it was confirmed that the toe trajectory mostly converged to a reference trajectory when the antagonistic muscle had strong antagonism. On the other hand, due to the effects of modeling errors, the deviation from the target trajectory increased as the antagonism weakened.
