| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2013: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Outline of Final Research Achievements |
Living organism make adaptive motions by appropriately control muscle tensions. Many muscles exists actually in the body of a living system. Therefore, it is indispensable to control the muscle tensions according to dynamic motion. In this study, we intend to deal with bipedal jumping motion of a biped humanoid driven by pneumatic artificial muscles. Here, we embedded a stretch reflex like mechanism on to soleus muscles of the robot. As results of jumping experiment, we confirmed the adaptive jumping motion of bipedal humanoid by exploiting cooperative pneumatic artificial muscle control that imitate stretch reflex of soleus muscles.
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