著者

日浅 崇馬 佐藤 隆紀 風間 英気 明 愛国 下条 誠

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 2017 (ISSN:24243124)

巻号頁・発行日

pp.2P1-K06, 2017 (Released:2017-11-25)

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Within limbs of typical animals, there are bi-articular muscle-tendon complex crossing two joints. In particular, it is known that the bi-articular muscle-tendon complex between hip joint and knee joint contributes to the dynamic motion such as high jumping and fast running. This realizes transfer of the torque between the two joints and storage and reuse of the elastic energy. In this paper, we introduce the muscle-tendon complex between hip joint and knee joint to the hind legs of the quadruped robot. In the vertical jump simulation, we confirmed that the mechanism enabled the leg to transfer the torque between the two joints and the leg with the mechanism realized higher jump than the one without it. A prototype of the mechanism has been fabricated also.