716 3関節型跳躍・舞踏ロボット用バイオミメティックアクチュエータの基本構成の検討(J02-1 生物の機能/運動/機構/模倣(1),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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In this research, the possibility of motor-spring series connection type biomimetic actuator was investigated. The structure of the actuator is based on the author's one joint type actuator. In this actuator, the spring connected between the joint and the motor makes a role of tendon for animal's muscle-skeleton system. Three joints of the same constraction of former one joint type actuator were connected in series to make a leg. A numerical model of the actuator has been constructing now. A simple jumping experiment was enforced and some factors to improve in this system was found from the experiment.
一般社団法人日本機械学会の論文
2008-08-02