Abstract
While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.
| Original language | English |
|---|---|
| Title of host publication | CISM International Centre for Mechanical Sciences, Courses and Lectures |
| Publisher | Springer International Publishing |
| Pages | 86-93 |
| Number of pages | 8 |
| DOIs | |
| Publication status | Published - 2019 Jan 1 |
Publication series
| Name | CISM International Centre for Mechanical Sciences, Courses and Lectures |
|---|---|
| Volume | 584 |
| ISSN (Print) | 0254-1971 |
| ISSN (Electronic) | 2309-3706 |
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Keywords
- Elasticity
- Human motion analysis
- Humanoid
- Joint mechanism
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Computer Science Applications
- Modelling and Simulation
Cite this
Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human. / Otani, Takuya; Hashimoto, Kenji; Natsuhara, Akira; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hun ok; Takanishi, Atsuo.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. p. 86-93 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human
AU - Otani, Takuya
AU - Hashimoto, Kenji
AU - Natsuhara, Akira
AU - Sakaguchi, Masanori
AU - Kawakami, Yasuo
AU - Lim, Hun ok
AU - Takanishi, Atsuo
PY - 2019/1/1
Y1 - 2019/1/1
N2 - While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.
AB - While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.
KW - Elasticity
KW - Human motion analysis
KW - Humanoid
KW - Joint mechanism
UR - http://www.scopus.com/inward/record.url?scp=85051537713&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85051537713&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-78963-7_12
DO - 10.1007/978-3-319-78963-7_12
M3 - Chapter
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 86
EP - 93
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -