Development of the bipedal robot for jumping with artificial muscles and magnetorheological brakes
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- NAGAYAMA Takahiro
- Chuo Univ. Dept. of Graduate School of Science and Engineering
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- ISHIHARA Hikaru
- Chuo Univ. Dept. of Graduate School of Science and Engineering
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- OKUI Manabu
- 中央大学 理工学部
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- YAMADA Yasuyuki
- 中央大学 理工学部
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- NAKAMURA Taro
- 中央大学 理工学部
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- NANAMI Masayoshi
- ヤマハ発動機株式会社
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- OKAMURA Shigehiro
- ヤマハ発動機株式会社
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- HARA Ioki
- ヤマハ発動機株式会社
Bibliographic Information
- Other Title
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- 空気圧ゴム人工筋肉と磁気粘性流体ブレーキを用いた二脚跳躍ロボットの開発
Description
<p>To achieve dynamic motion, such as jumping and running, generating large instantaneous force and decreasing impact force at the time of the landing are needed. However, when increasing the instantaneous force of actuators such as motors and hydraulic actuators, the weight of robot also tend to increase. Therefore, in this study, we focused on the variable viscoelastic element with the human muscle. In this paper, we developed a bipedal jumping robot with variable viscoelastic joints. In this robot, we adopted straight-fiber-type artificial muscle as a variable elastic element and the magnetorheological fluid (MR) brake as a variable viscous-friction element. Moreover, we conducted the bending and stretching operation experiment by this robot. In this experiment, we used the experimental parameters which were determined based on human bending and stretching operation. As a result, it was confirmed that this robot realized the bending and stretching operation.</p>
Journal
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- The Proceedings of Mechanical Engineering Congress, Japan
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The Proceedings of Mechanical Engineering Congress, Japan 2016 (0), S1510201-, 2016
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390282680817827456
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- NII Article ID
- 130007069150
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- ISSN
- 24242667
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed