著者

Takahiro Goto Yasuhiro Sugimoto Daisuke Nakanishi Keisuke Naniwa Koichi Osuka

出版者

The Institute of Electronics, Information and Communication Engineers

雑誌

Nonlinear Theory and Its Applications, IEICE (ISSN:21854106)

巻号頁・発行日

vol.13, no.4, pp.598-614, 2022 (Released:2022-10-01)

参考文献数

23

被引用文献数

1

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This study focused on the bifurcation of coordination relationships between McKibben pneumatic actuators (MPA). We aimed to arrive at the control theory of a robot with MPAs by analyzing this bifurcation phenomena. The control law using the MPA tension generates multiple motion modes, and the coordination relationships between MPAs bifurcate depending on parameters reported in a previous study. The bifurcation phenomenon between two of those coordination relationships was analyzed and it was found that despite a similar link movement, the phase oscillators exhibited different coupled modes. The important difference between two coupled modes was determined to be the relationship between the MPA pressure and length. Further, we verified that the angular velocity of the link was the parameter that generated this phenomenon by analyzing it in correspondence with the model of forced oscillation. In addition, we confirmed the bifurcation phenomenon employing a 1-DOF pendulum machine.