TY - GEN
T1 - Musculoskeletal quadruped robot with Torque-Angle Relationship Control System
AU - Nishikawa, Satoshi
AU - Shida, Kazuya
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - Systems with changeable mechanical properties show promise for expanding the applications of dynamic robots. We proposed the Torque-Angle Relationship Control System (TARCS) for musculoskeletal robots with changeable output properties. First, we formulated TARCS and examined its static properties. Next, we used TARCS to change the properties and investigated the effect of the same on the jumping ability through simulations. We found that TARCS in a biarticular muscle determined the general shape of the jumpable range. Furthermore, TARCS in a monoarticular muscle could change the amplitude of the jumpable range. Both TARCS also changed the directional property of the reaction to the disturbance. Finally, we developed a musculoskeletal quadruped robot in which TARCS was implemented. This robot could change its jumping direction using TARCS, and it jumped to a height of 0.254 m at the lowest point of its body.
AB - Systems with changeable mechanical properties show promise for expanding the applications of dynamic robots. We proposed the Torque-Angle Relationship Control System (TARCS) for musculoskeletal robots with changeable output properties. First, we formulated TARCS and examined its static properties. Next, we used TARCS to change the properties and investigated the effect of the same on the jumping ability through simulations. We found that TARCS in a biarticular muscle determined the general shape of the jumpable range. Furthermore, TARCS in a monoarticular muscle could change the amplitude of the jumpable range. Both TARCS also changed the directional property of the reaction to the disturbance. Finally, we developed a musculoskeletal quadruped robot in which TARCS was implemented. This robot could change its jumping direction using TARCS, and it jumped to a height of 0.254 m at the lowest point of its body.
UR - http://www.scopus.com/inward/record.url?scp=84977561831&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84977561831&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487595
DO - 10.1109/ICRA.2016.7487595
M3 - Conference contribution
AN - SCOPUS:84977561831
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4044
EP - 4050
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -