Musculoskeletal quadruped robot with Torque-Angle Relationship Control System

Satoshi Nishikawa, Kazuya Shida, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2016 IEEE International Conference on Robotics and Automation, ICRA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4044-4050
ページ数7
ISBN(電子版)9781467380263
DOI
出版ステータス出版済み - 6月 8 2016
外部発表はい
イベント2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, スウェーデン
継続期間: 5月 16 20165月 21 2016

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2016-June
ISSN(印刷版)1050-4729

その他

その他2016 IEEE International Conference on Robotics and Automation, ICRA 2016
国/地域スウェーデン
CityStockholm
Period5/16/165/21/16

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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