Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
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. Our previous study proposed a control method for musculoskeletal robots using tension feedback cooperative control. We also proposed a trajectory-following control method for the robots. This paper proposes a new control method that autonomously generates input pressures to realize a target trajectory by combining these two control methods. Simulations and experiments verified the function of the proposed control method. From the simulation and experiment results, we confirmed that the pressure inputs changed autonomously according to the period and amplitude of the target trajectory by appropriately selecting the weight coefficient. In addition to realizing the target trajectory, it was also confirmed that the generation of excessive tension was suppressed.
