人工筋を用いた犬の後肢の筋骨格系模倣

抄録

In this project, we aimed to imitate the musculoskeletal system of a dog’s hindlimb and investigate the effect of constraints by the fascia in locomotion. Thin McKibben pneumatic artificial muscles were attached to the dog’s hindlimb skeleton model, referred to as its anatomical structure. A musculoskeletal robot with an animal-like driving system is expected to perform more animal-like movements than existing robots. Therefore, it may enhance the likeability of a robot, which is a crucial factor in Human-robot interaction(HRI). This project suggests the possibility of developing such a robot. The robot’s locomotion was performed under various constraint conditions. It was confirmed that the loose and ambiguous constraints by the fascia, affect the movement of musculoskeletal robots. In the aspect of constraints, the fascia would be a significant factor in a musculoskeletal robot with an animal-like driving structure.