二関節筋を有する脚モデルの拮抗筋間協調制御に関する研究

抄録

It is widely known that robots using McKibben pneumatic actuator can achieve various dynamic motions by simple control, such as adjusting the timing of pressure application. However, the design of the applied pressure is often determined by trial and error, and there is no systematic design method. In our study, we have proposed a control method for a musculoskeletal robot by autonomous antagonist muscle coordination using tension feedback control. In this paper, we apply the tension feedback control to a 2DOF leg model with antagonistic biarticular muscles and verify its function by simulation. From the simulation results, it is confirmed that the tension feedback control autonomously generated the coordination of the biarticular muscles and periodic motion of the leg model. Furthermore, it is also confirmed that two different motion patterns can be generated depending on the choice of the feedback coefficient.