動物の筋腱複合体を規範とする脚ロボットの研究開発

―上腿と下腿に二関節筋腱複合体を有するロボットの前方跳躍運動制御―

抄録

The bi-articular muscle-tendon complex in animals contributes to the dynamic motion such as high jumping or fast running. Our research group has developed legged robots with a mechanism that mimics the bi-articular muscle-tendon complexes on animal’s limb. However, its effectiveness of the mechanisms in forward jumping has not been verified yet. In this paper, forward jumping trajectories for a legged robot with bi-articular muscle-tendon complex mechanisms were generated. In the forward jumping simulation, the legged robot with the mechanisms jumped longer distance than those without the mechanisms. Based on the generated forward jumping trajectory, experiments using the legged robot with the bio-inspired mechanism were also conducted. Forward jumping utilizing the effect of the bi-articular muscle-tendon complex mechanisms was realized in the experiments.