著者

長山 尭拓 石原 ひかる 奥井 学 山田 泰之 中村 太郎 名波 正善 岡村 成浩 原 以起

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2016 (ISSN:24242667)

巻号頁・発行日

pp.S1510201, 2016 (Released:2017-06-19)

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To achieve dynamic motion, such as jumping and running, generating large instantaneous force and decreasing impact force at the time of the landing are needed. However, when increasing the instantaneous force of actuators such as motors and hydraulic actuators, the weight of robot also tend to increase. Therefore, in this study, we focused on the variable viscoelastic element with the human muscle. In this paper, we developed a bipedal jumping robot with variable viscoelastic joints. In this robot, we adopted straight-fiber-type artificial muscle as a variable elastic element and the magnetorheological fluid (MR) brake as a variable viscous-friction element. Moreover, we conducted the bending and stretching operation experiment by this robot. In this experiment, we used the experimental parameters which were determined based on human bending and stretching operation. As a result, it was confirmed that this robot realized the bending and stretching operation.

著者

奥井 学

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.37, no.1, pp.57-60, 2019 (Released:2019-01-15)

参考文献数

9

著者

奥井 学 名倉 裕貴 飯川 伸吾 山田 泰之 中村 太郎

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.48, no.3, pp.17-23, 2017 (Released:2017-07-24)

参考文献数

9

被引用文献数

1

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This paper is concerned with portable pneumatic power source using chemical reaction of sodium bicarbonate and citric acid. Carbon dioxide generated in the chemical reaction is used as the compressed air. Both sodium bicarbonate and citric acid are inexpensive, nontoxic, and readily available. This paper is organized as follows. Firstly, the characteristics of the chemical reaction is surveyed and the appropriate pneumatic power source system is discussed. Secondly, a pressure booster that can achieve a stable air generation system without external power is described. Thirdly, the experiment using the prototype system is conducted to confirm the effectiveness of the proposed method.