2014 Fiscal Year Final Research Report
Development of Pneumatic Artificial Muscle Oscillators by Exploiting Cooperative Stick-slip Phenomenon
| Project/Area Number |
25540117
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent robotics
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| Research Institution | Osaka University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Keywords | 知能ロボット |
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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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| Free Research Field |
バイオロボティクス
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