著者

菅野 薫 伊東 明俊

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2014, pp."3A1-X01(1)"-"3A1-X01(4)", 2014-05-24

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We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. We developed an artificial silicone rubber tendon structure for the robot to mimic animal's muscular-skeletal structure. In the previous paper, we added an auxiliary motor to the one-axis jumping actuator to suppress the vibration at a fixed angle control. The vibration can be reduced by nipping between the main motor and the auxiliary motor. The experimental results of this actuator, however, showed that this structure had structural defects that the nipping force was restricted by the torque of the smaller motor at a fixed angle control stage, and the jumping force was also restricted by the movement of the slower motor. As a result, the jumping height of this actuator was decreased. In this paper, we newly developed an actuator mounted with the same twin motor to solve this problem. We used twin 200W DC coreless motors for the new actuator. The experimental results showed that we have succeeded in improving the simple jumping height up to 260 mm. It was, however, not possible to show the effectiveness of the tendon structure by bending and stretching jumping experiment. We are now creating a simulator of this actuator to investigate how to effectively utilize the tendon structure.