ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-O03
会議情報
1A2-O03 空気圧人工筋駆動の筋骨格ロボットアームにおける投球動作(ヒューマノイド(2))
管納 史也池本 周平細田 耕
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会議録・要旨集 フリー

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Musculoskeletal robot arm driven by McKibben pneumatic artificial actuators, which consists of a tubular rubber and a braided mesh sleeve, has flexibility because of the characteristics of the actuator. Although the flexibility and the complex structure make the accurate control very difficult, it can be exploited to store elastic energy, and transfer the elastic energy to kinetic energy. This suggests that the flexible structure of the musculoskeletal robot arm improves efficacy of dynamic motions such as a throwing motion. In this study, we develop a musculoskeletal robot arm inspired by a human superior limb girdle to investigate the advantage of the flexible structure.

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© 2012 一般社団法人 日本機械学会
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