複数の釣糸アクチュエータを用いた2自由度マニピュレータの位置・剛性制御

Translated title of the contribution: Position and Stiffness Control of 2-DOF Manipulator Using Multiple Fishing Line Actuators

小野 秀, 舛屋 賢, 高木 賢太郎, 田原 健二

Research output: Contribution to journalArticle

Abstract

<p>A fishing line actuator is one of the soft actuators made by coiling a twisted polymer fiber. In this paper, we propose 2 DOF manipulator driven by the multiple fishing line actuators to realize a joint angle control and a variable stiffness independently. The effectiveness of the proposed mechanism is evaluated experimentally.</p>
Original languageJapanese
Pages (from-to)2A1-A03
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2017
Issue number0
DOIs
Publication statusPublished - 2017

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Manipulators
Actuators
Stiffness
Fibers
Polymers

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複数の釣糸アクチュエータを用いた2自由度マニピュレータの位置・剛性制御. / 小野秀; 舛屋賢; 高木賢太郎; 田原健二.

In: ロボティクス・メカトロニクス講演会講演概要集, Vol. 2017, No. 0, 2017, p. 2A1-A03.

Research output: Contribution to journalArticle

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