1A2-R10 跳躍・走行・舞踏ロボット用バイオミメティックアクチュエータの開発 : シリコンゴム腱構造アクチュエータによる屈伸反動跳躍の実現(バイオミメティクス・バイオメカトロニクス(2))

Abstract

We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. We proposed and have been developing a silicone rubber compression type tendon structure for robots which act as a tendon of the muscular-skeletal system of the animals. Our first actuator using this silicone rubber tendon structure is a bit rack of motor power as a jumping robot. Therefore, in the previous paper, we newly produced a One-axis actuator using 200W coreless motor. We also modified the tendon structure. However, we could not demonstrate that the tendon structure improved the jumping height of 1 axis type actuator. Moreover, it was clarified that the knee joint angle was not controlled correctly after presenting the previous report. Therefore, in this study, we modified the tendon structure to load both tension/compression. We also introduce feedforward/feedback adding type control program to reduce vibration. The results showed that the newly made control program drastically decreased the vibration of the knee joint angle. The jumping height of the bend and stretch reaction jumping also exceeded the height of the simple jumping from full-bending position. This result showed that the modified tendon structure improved the jumping height of 1 axis actuator.