2022 Fiscal Year Final Research Report
Motion Producing Method based on the Mechanism of Musculoskeletal Structure
| Project/Area Number |
21K17835
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 61050:Intelligent robotics-related
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| Research Institution | Kindai University |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2023-03-31
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| Keywords | 筋骨格構造 / 受動歩行 |
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| Outline of Final Research Achievements |
The purpose of this study is to deepen the understanding of the relationship between the mechanism of the musculoskeletal structure and skillful movements by analyzing this mechanism. Herein, an end-point trajectory shaping method using arbitrary vector for a muscular internal force feedforward controller is proposed and its effectiveness is confirmed through simulation. Furthermore, a new joint structure is proposed wherein the moment arms are changed according to a joint angle and its effectiveness is confirmed by experiment. Also, a passive walking robot with changeable physical parameters of links is proposed.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究の成果は，筋骨格構造特有のメカニズムを利用することで，複雑な実時間計算や正確な物理パラメータなどを必要とせず，筋骨格型ロボットで巧みな運動を実現することが可能であり，筋骨格型ロボットの実用化に向けた必要な技術である．また，本研究の成果は筋骨格型ロボットの基盤技術となり，実現したい運動に適した筋骨格構造の設計法の確立や，筋骨格構造特有のメカニズムに基づいた運動生成法の確立に役立てることができる．
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