2A2-P10 動物の筋腱複合体を規範とする小型四脚ロボットの研究開発

• 風間 英気

  電通大

• 明 愛国

  電通大

• 下条 誠

  電通大

書誌事項

タイトル別名

• 2A2-P10 Small Quadruped Robot with Bi-articular Muscle-Tendon Complex

抄録

Electromagnetic motors are useful actuators for robots due to good controllability and low cost. But, usually electromagnetic motors together with reducers of high reduction ratio are used to actuate robots. It is difficult to realize creature-like dynamic motions such as fast running, high jumping, by the robots due to low backdrivability of joints. To solve the problem, a robot with leg mechanisms consisting of spring and damper inspired by bi-articular muscle-tendon complex of animals, has been developed. As the result of experiments for dynamic motion, trot running at a speed of 3.5 kilometers per hour and forward jump about 1 body length per jump have been realized by the robot.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2A2-P10_1-_2A2-P10_4, 2015

  一般社団法人 日本機械学会

キーワード

• quadruped robot
• biomimetic
• spring
• trot
• jump

詳細情報

• CRID: 1390282680917369216
• NII論文ID: 110010055617
• DOI: 10.1299/jsmermd.2015._2a2-p10_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2A2-P10_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可