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Paper WeC210.3

Nakata, Yoshihiro (Osaka University), Ide, Atsuhiro (Osaka university), Nakamura, Yutaka (Osaka university), Hirata, Katsuhiro (Osaka University), Ishiguro, Hiroshi (Osaka University)

Hopping of a Monopedal Robot with a Biarticular Muscle Driven by Electromagnetic Linear Actuators

Scheduled for presentation during the Interactive Session "Interactive Session WeC-2" (WeC210), Wednesday, May 16, 2012, 15:00−15:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Biologically-Inspired Robots, Biomimetics

Abstract

The compliance of muscles with external forces and the structural stability given by biarticular muscles are important features of animals to realize dynamic whole body motions such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator can emulate the behavior of a human muscle such as the spring-damper characteristics by quick control of the output force (i.e. impedance control) and it is expected to be used as an artificial muscle. In this paper, we develop a monopedal robot possessing bi- and monoarticular muscles implemented by linear actuators. Thanks to the biarticular muscle, the bouncing direction of the robot can be controlled by changing the stiffness ellipse at the endpoint (i.e. foot) of the robot. We confirm that the bouncing direction of the robot can be controlled and hopping can be achieved by changing the stiffness ellipse.

 

 

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