Japanese

"BeBe": a spine robot

• Points
  • Mechanical flexibility by air artificial muscle.
  • Artificial muscles are placed by consultation of human's muscles arrangement.
  • How to control a redundant structure: (a general control method using sensor (vision) information feedback).
  • Perform the task under disturbance or under a restriction, using the redundancy.

• Example motion (tracking)

Experiment	How BeBe behaves	Internal image captured by BeBe's camera
Controlling the posture for tracking the target in the center of its camera view
Executing tasks while adapting to the external force
Executing tasks under the restriction (outputs of some muscles are fixed)

References

1. T. Kawashima, I. Mizuuchi, H. Yamaguchi, S. Kagami, M. Inaba, and H. Inoue: "A Hyper-Redundant Spine-Type Robot with Pneumatic Artificial Muscles", Proc. of 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC'99), 2A1-47-081, 1999

【Note】 Movies are limited in the laboratory.

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