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.