筋骨格構造を持つ腱駆動冗長マニピュレータによる手先剛性制御

Translated title of the contribution: End-Point Stiffness Control for a Tendon-Driven Redundant Manipulator with Musculoskeletal Structure

壷井 翔貴, 木野 仁, 田原 健二

Research output: Contribution to journalArticle

Abstract

<p>Enough compliance and safe operation are necessary for robots working where there may contact humans or environments to prevent robots harm them. Musculoskeletal robotic systems that have structurally high back-drivability are one of the possibilities to realize the above requirements. Additionally, it is possible that musculoskeletal robotic systems can adjust their mechanical impedance in task space using two redundancies, joint and muscle redundancies. In this paper, a control method of end-point stiffness for a musculoskeletal redundant manipulator having both joint and muscle redundancies by mapping the end-point stiffness matrix in task space to muscle space is proposed. The usefulness is demonstrated through numerical simulation results.</p>
Translated title of the contributionEnd-Point Stiffness Control for a Tendon-Driven Redundant Manipulator with Musculoskeletal Structure
Original languageJapanese
Pages (from-to)2A1-I06
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2021
Issue number0
DOIs
Publication statusPublished - 2021

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