Study on designing a biped robot With bi-articular muscle type bilateral servo systems

摘要

At present, biped robots are designed having motors on each joint. But human have actuators that span two joints, and the antagonistic pair actuator drives two joints at the same time. In these days, the effects of this study that is source of fast motor such as jump or running are investigated on Body moment study and Biology. This study shows the basic principle and the driving mechanism of the new actuator, called bilateral servo system developed in our laboratory, having the bi-articular operation to adjust a biped robot, and characteristics of the actuator that driving joint. As for those characteristics, this paper expresses the bilateral servo system and the robot that use the actuators.