2P2-H19 人間の上腕を模したロボティックアームの開発(バイオミメティクス・ロボティクス)

概要

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In order to develop a robot which can perform practical tasks, it would be beneficial to refer animals which have survived in unstructured environments. In this research, we developed a human-like robotic arm which imitates the anatomy of bones and muscles of human upper limb. Although human can control his arm flexibly and robustly, controlling a complex system by existing control methods would be difficult because of its complexity. In this report, we propose a simple but flexible control mechanism inspired by biological adaptation mechanism, and apply our proposed method to the control of the robot. Experimental results show that our proposed method can be applied to the control of a robot with complex structure.
一般社団法人日本機械学会の論文
2008-06-06