503 空気圧アクチュエータを用いた4脚歩行・走行ロボットの開発(OS5-(6)オーガナイズドセッション《ライフサポートにおける工学技術》)

概要

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Many quadruped running robots have been so far developed, but it is very difficult for a robot to run rapidly. Because, joint of there robots that uses motor is hard. Our quadruped robot 'Tekken-R' uses pneumatic actuators. Pneumatic actuators have high elasticity and variable elastic characteristics. Creatures change their elasticity according to the velocity. Tekken-R can reproduces it. We designed a quadruped robot to use pneumatic actuator, and we experiment walking and running. In this paper, we show the result of movement by a single leg.
2011-08-26