Development of a leg part of a humanoid robot - Design of a biped walking robot having antagonistic driven joints using a nonlinear spring mechanism

Jin'ichi Yamaguchi, Atsuo Takanishi

    Research output: Contribution to journalArticle

    3 Citations (Scopus)

    Abstract

    The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length.

    Original languageEnglish
    Pages (from-to)633-652
    Number of pages20
    JournalAdvanced Robotics
    Volume11
    Issue number6
    Publication statusPublished - 1997

    Fingerprint

    Robots
    Muscle
    Musculoskeletal system
    Stiffness
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    @article{a73328a8d1c245648ed86941082f12e9,
    title = "Development of a leg part of a humanoid robot - Design of a biped walking robot having antagonistic driven joints using a nonlinear spring mechanism",
    abstract = "The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length.",
    author = "Jin'ichi Yamaguchi and Atsuo Takanishi",
    year = "1997",
    language = "English",
    volume = "11",
    pages = "633--652",
    journal = "Advanced Robotics",
    issn = "0169-1864",
    publisher = "Taylor and Francis Ltd.",
    number = "6",

    }

    TY - JOUR

    T1 - Development of a leg part of a humanoid robot - Design of a biped walking robot having antagonistic driven joints using a nonlinear spring mechanism

    AU - Yamaguchi, Jin'ichi

    AU - Takanishi, Atsuo

    PY - 1997

    Y1 - 1997

    N2 - The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length.

    AB - The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length.

    UR - http://www.scopus.com/inward/record.url?scp=0031701097&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=0031701097&partnerID=8YFLogxK

    M3 - Article

    AN - SCOPUS:0031701097

    VL - 11

    SP - 633

    EP - 652

    JO - Advanced Robotics

    JF - Advanced Robotics

    SN - 0169-1864

    IS - 6

    ER -