| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2014: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Outline of Final Research Achievements |
This project investigates new control methods for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles in order to realize robot control of locomotion that has acquired the flexibility for the environment with a biological strategy. Firstly, open-loop control, which does not need the joint angles and velocities, is discussed for the 2DOF bi-articular manipulator dynamics. Next, iterative learning control based on passivity is considered to obtain the robustness for parametric uncertainty. Simulation and experimental results are shown to confirm the proposed methods and give us a new difficulty to realize the mechanism of antagonistic bi-articular muscles.
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