拮抗駆動機構の位相条件を考慮した軌道追従制御(研究)

抄録

This paper proposes a new control method for a lower-leg robot with antagonistic driven mechanisms. The proposed control method has following two features: (1) the controller is designed according to a frequency response, and (2) both steady-state error and phase delay are compensated. As a result, the proposed control method significantly improves the tracking performance to a reference trajectory. The effectiveness of the proposed control method was confirmed by numerical simulations of the lower-leg robot with antagonistic driven mechanisms.