弾性腱駆動ロボットにおける電磁ブレーキを使った低振動で柔軟な制御法

抄録

This paper proposes an actuating mechanism using elastic tendons and its control algorithm for the soft robotic systems. Soft SEA (series elastic actuator) improves safety when the robots are executing tasks where the end effectors are in contact with objects or the environment. On the other hand, it poses the problem of vibration in non-contact conditions. We propose to solve this problem by inserting micro electromagnetic clutches in series with the elastic elements of the tendon driven systems. Conventional feedback controllers with tendon actuation often become high-order systems even in velocity control purposes, and high-gain feedback controller is often required to ensure stability.