1P1-S08 跳躍・走行・舞踏ロボット用シリコンゴム腱構造付アクチュエータの開発 : モータ二台型アクチュエータによる連続跳躍時の制御アルゴリズムの検討

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  • 1P1-S08 Development of Biomimetic Actuator for Dancing, Running and Jumping Robot : Consideration of continuous jump control algorithm by the twin motor-mounted actuator

説明

We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. We developed an artificial silicone rubber tendon structure for the robot to mimic animal's muscular-skeletal structure. In this paper, we optimized a previously installed digital filter and succeeded in stabilization of an actuator both standing still and slow moving by using different attenuation coefficient. Second, we have remodeled an actuator to give high durability and have reduced the weight of it. After manufacturing that, we made a bending and stretching reaction jumping and consecutive jumping according to the jumping height. We use the tendon structure effectively and that a light-weight and high output actuator is considered in the future.

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