Abstract
Self-contained pneumatic driven musculoskeletal robots for dynamic motions are often equipped with ON/OFF valves for weight reduction. It is necessary to switch valves frequently since a discontinuous control system with ON/OFF valves causes overshooting. Frequent switching leads discarding kinetic and elastic energy. One-shot valves operation to realize a target motion is desired. Target of this research is to design a musculoskeletal structure not to discard energy in a target motion such as using maximum performance of a robot. We propose a design method of pneumatic driven musculoskeletal robots to realize a target dynamic motion by one-shot valves operation by designed variable moment arms of a musculoskeletal structure.
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