ゴム人工筋を用いた災害復旧時の建機操縦ロボット

抄録

There is a danger of secondary disaster in disaster sites. In this paper, a 6-DOF robot arm using pneumatic artificial rubber muscles (PARM) is designed for construction machinery operation to ensure workers’ safety. The position control of PARMs is improved by constituting the cascade control system with the pressure control system in the minor loop.