Musculoskeletal quadruped robot with Torque-Angle Relationship Control System

Satoshi Nishikawa, Kazuya Shida, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Systems with changeable mechanical properties show promise for expanding the applications of dynamic robots. We proposed the Torque-Angle Relationship Control System (TARCS) for musculoskeletal robots with changeable output properties. First, we formulated TARCS and examined its static properties. Next, we used TARCS to change the properties and investigated the effect of the same on the jumping ability through simulations. We found that TARCS in a biarticular muscle determined the general shape of the jumpable range. Furthermore, TARCS in a monoarticular muscle could change the amplitude of the jumpable range. Both TARCS also changed the directional property of the reaction to the disturbance. Finally, we developed a musculoskeletal quadruped robot in which TARCS was implemented. This robot could change its jumping direction using TARCS, and it jumped to a height of 0.254 m at the lowest point of its body.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4044-4050
Number of pages7
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - Jun 8 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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