Hopping of a monopedal robot with a biarticular muscle driven by electromagnetic linear actuators
Hopping of a monopedal robot with a biarticular muscle driven by electromagnetic linear actuators
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DOI：
10.1109/icra.2012.6225362
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发表时间：
2012-05
期刊：
影响因子：
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通讯作者：
Y. Nakata;Atsuhiro Ide;Yutaka Nakamura;K. Hirata;H. Ishiguro
中科院分区：
文献类型：
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作者：
Y. Nakata;Atsuhiro Ide;Yutaka Nakamura;K. Hirata;H. Ishiguro
肌肉对外力的顺应性和双关节肌肉所赋予的结构稳定性是动物在各种环境中实现跑、跳等动态全身运动的重要特征。为此，我们一直在研究电磁线性致动器。该致动器能够通过输出力的快速控制（即阻抗控制）来模拟人体肌肉的行为，例如弹簧-阻尼器特性，并且期望将其用作人造肌肉。在本文中，我们开发了一种具有双关节和单关节肌肉的机器人，由线性驱动器实现。由于双关节肌肉，机器人的弹跳方向可以通过改变机器人端点（即脚）处的刚度椭圆来控制。我们确认可以通过改变刚度椭圆来控制机器人的弹跳方向并实现跳跃。
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 mono-articular 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.