反射による即時適応メカニズム探求のための2脚ロボットの開発

抄録

Reflexes contribute to many motor functions of humans. In order to understand the reflex mechanisms in posture control of humans, we develop a bipedal robot platform that can reproduce muscle properties and reflexes. This robot with BLDC motors has high back-drivability and torque output ability to reproduce these two characteristics. In this study, to quantitatively investigate the contribution of various types of posture reflexes with different sensory information (muscle length, force, and no input), we compared the settling time and steady-state deviations of the posture response under disturbances.