Design and motion control of a new walking robot utilizing human musculoskeletal structure and its stiffness adjustment capability

2016 Fiscal Year Final Research Report

• Project/Area Number: 26420201
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Ehime University
• Principal Investigator: LEE JAEHOON 愛媛大学, 理工学研究科(工学系), 准教授 (00554411)
• Research Collaborator: JAFARI Amir アメリカテキサス大学(UTSA), 機械工学科, 助教授 ; YANO Takashige ; SUZUKI Hirotatsu ; TAKIGUCHI Takeaki ; TAKEMOTO Hiroaki ; KATAOKA Ryoichiroh
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 歩行ロボット / 筋骨格構造 / 弾性調節機能

Outline of Final Research Achievements

A new semi-passive walking robot having human musculoskeletal structure was developed. A unified method to regulate motion characteristics by using multiple actuators was proposed and verified. Its actuation unit was manufactured and used to confirm that it is possible to control its both position and stiffness. It was applied to successful walking experiments using the three-linked planar walking robot developed in this research. Besides, a five-linked walking robot having knee joint was developed and a controller based on CPG (Central Pattern Generator) exploiting information of pose sensor and foot force sensor has been embedded in it. It was observed through computer simulations and experiments that the robot can walk continuously and its motion is stabilized by the sensor information. In addition, a new joint mechanism was designed that can adjust the stiffness of itself not by using antagonism with multiple actuators but by using a special device with a spring and a small motor.

Free Research Field

ロボット工学