空気圧人型ロボットの俊敏性向上のための足裏吸着による姿勢固定時の事前駆動力付加の活用

抄録

When practicing an opponent sport such as badminton, using a humanoid robot as a training partner requires the robot to be agile. To improve agility, we have used a robot operated by lightweight pneumatic actuators and equipped with suction cups to improve tipping stability. One of the challenges in quick motion of the robot is the delay in pressure response when the pneumatic actuators operate. In this study, we propose a method to apply driving force to the joints of the robot in advance, while maintaining the posture of the robot using the adsorption mechanism. As a result, the effect of the delay in pressure response was reduced and the robot achieved an increase in speed due to improved stepping out movement.