ニイヤマ　リュウマ   NIIYAMA RYUMA   新山　龍馬    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2022/04
形態種別	学術雑誌
査読	査読あり
標題	Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator
執筆形態	共著(筆頭者以外)
掲載誌名	JOURNAL OF ROBOTICS AND MECHATRONICS
掲載区分	国外
出版社・発行元	FUJI TECHNOLOGY PRESS LTD
巻・号・頁	34(2),pp.328-338
著者・共著者	Kenji Misu, Masahiro Ikeda, Keung Or, Mitsuhito Ando, Megu Gunji, Hiromi Mochiyama, Ryuma Niiyama
概要	We propose a wire-driven robotic arm inspired by the ostrich neck. It can pick up a small piece of feed from the ground while colliding with it. This arm is named robostrich arm (shortened form of robotic ostrich arm). It consists of a serial chain of 18 rigid bodies connected by free rotational joints that are designed to have angle limitations similar to the bones of a real ostrich. It moves in a vertical plane and is driven by two DC motors through antagonistic wires. The task considered in this study was to lift the arm tip (the "head" of the robostrich arm). The experimental results indicate that the tensioner balance and timing between the two wires are important for achieving the head-up task. This paper indicates the contribution of antagonist muscles to the performance of head-up tasks by high-degree-of-freedom underactuated manipulators in robotics and ostrich necks in biological studies.
DOI	10.20965/jrm.2022.p0328
ISSN	0915-3942