非線形弾性機構を有するアクチュエータ（ＡＮＬＥＳ）を用いた拮抗型関節の剛性と角度制御

• 稲葉 智也

  岡山大学

• 中沢 俊貴

  東芝機械

• 小金澤 鋼一

  東海大学

書誌事項

タイトル別名

• Stiffness and Angle Control of Antagonistially Driven Joint using the Actuator with Non-Linear Elastic System (ANLES)
• ヒセンケイ ダンセイ キコウ オ ユウスル アクチュエータ ANLES オ モチイタ キッコウガタ カンセツ ノ ゴウセイ ト カクド セイギョ

抄録

This paper presents an approach for developing a mechanical system that is similar to a musclo-skeletal system. Antagonistic driving of articulation is a key mechanism, in which at least two muscles control a single rotary axis in the antagonistic manner. It provides not only to control the joint angle but also to control the joint stiffness. The stiffness control requires for individual muscle to have a non-linear elasticity. Hence we have developed an actuator system having non-linear elasticity, which is called ANLES. It fundamentally mimics the skeletal muscle in the sense of having non-linear elasticity. This paper describes a method for designing the elastic characteristics of ANLES and shows the developed ANLES followed by the theoretical and experimental result of its non-linear elasticity. Next one rotary joint controlled by two ANLESes is introduced. The experimental result of measuring stiffness of the joint is shown. A method for controlling the joint angle is proposed, in which two ANLESes drives one rotary joint with no angular feedback. An on-line method for estimating the weight loaded at the end-point is also proposed. All of methods are evaluated and validated by the experiments.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 26 (4), 381-388, 2008

  一般社団法人 日本ロボット学会

キーワード

• Antagonistic Driving
• Stiffness Control
• Non-Linear Elasticity
• Muscle Mimicking Module

詳細情報

• CRID: 1390001204725696640
• NII論文ID: 10021142510
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.26.381
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 9513160
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9513160
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可