Development of musculoskeletal biped robot driven by direct-drive actuators

摘要

We develop a new musculoskeletal biped robot driven by bigh-thrust direct-drive linear actuator; spiral motor. The motor is compact even though it is not combined with mechanical gears. Thanks to its gearless mechanism, fine position/force control is possible. Direct-drive position control is verified by experiments, where very quick motion is realized. Moreover, simulation method for musculoskeletal biped robot is proposed.