提出三维线缆驱动肌腱复合结构，实现机器人柔性接触环境
Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive
- 设计可平缓膨胀的三维肌腱外罩，支持全表面接触
- 在2轴3肌机器人上验证环境适应性运动能力
- 解决二维设计中肌肉过度膨胀与平面运动限制问题
为提升机器人在复杂环境中的适应性，需使其身体具备与环境持续接触的能力。人类在接触环境时，即使肌肉位置或形状变化，仍能持续运动。为此，我们提出线缆缠绕肌腱复合体（ww-MTC），作为线驱动系统的延伸。此前二维配置研究表明该系统可减少线缆松动、干涉和磨损，增强环境接触鲁棒性，并具肌肉外观。但存在肌肉过度膨胀阻碍相邻肌肉运动、仅限平面运动等问题。本研究将ww-MTC拓展至三维结构，提出一种可平缓扩张、支持全表面接触的肌肉外型基础构建方法。将其应用于2轴3肌机器人平台，验证其可在环境交互中持续运动，实现更自然的形态适应。
原文摘要 · Abstract (English)
For robots to become more versatile and expand their areas of application, their bodies need to be suitable for contact with the environment. When the human body comes into contact with the environment, it is possible for it to continue to move even if the positional relationship between muscles or the shape of the muscles changes. We have already focused on the effect of geometric deformation of muscles and proposed a drive system called wire-wound Muscle-Tendon Complex (ww-MTC), an extension of the wire drive system. Our previous study using a robot with a two-dimensional configuration demonstrated several advantages: reduced wire loosening, interference, and wear; improved robustness during environmental contact; and a muscular appearance. However, this design had some problems, such as excessive muscle expansion that hindered inter-muscle movement, and confinement to planar motion. In this study, we develop the ww-MTC into a three-dimensional shape. We present a fundamental construction method for a muscle exterior that expands gently and can be contacted over its entire surface. We also apply the three-dimensional ww-MTC to a 2-axis 3-muscle robot, and confirm that the robot can continue to move while adapting to its environment.
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