Hopping robot using pelvic movement and leg elasticity

Takuya Otani, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun Ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Pages235-243
Number of pages9
Volume22
ISBN (Print)9783319070575
DOIs
Publication statusPublished - 2014
Event20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation
Duration: 2014 Jun 232014 Jun 26

Other

Other20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
CountryRussian Federation
CityMoscow
Period14/6/2314/6/26

Fingerprint

Leaf springs
Elasticity
Stiffness
Robots
Torsional stress

Keywords

  • Hopping
  • Human motion analysis
  • Humanoid

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Otani, T., Uryu, K., Yahara, M., Iizuka, A., Hamamoto, S., Miyamae, S., ... Takanishi, A. (2014). Hopping robot using pelvic movement and leg elasticity. In Mechanisms and Machine Science (Vol. 22, pp. 235-243). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-07058-2_27

Hopping robot using pelvic movement and leg elasticity. / Otani, Takuya; Uryu, Kazuhiro; Yahara, Masaaki; Iizuka, Akihiro; Hamamoto, Shinya; Miyamae, Shunsuke; Hashimoto, Kenji; Destephe, Matthieu; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hun Ok; Takanishi, Atsuo.

Mechanisms and Machine Science. Vol. 22 Kluwer Academic Publishers, 2014. p. 235-243.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Otani, T, Uryu, K, Yahara, M, Iizuka, A, Hamamoto, S, Miyamae, S, Hashimoto, K, Destephe, M, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2014, Hopping robot using pelvic movement and leg elasticity. in Mechanisms and Machine Science. vol. 22, Kluwer Academic Publishers, pp. 235-243, 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014, Moscow, Russian Federation, 14/6/23. https://doi.org/10.1007/978-3-319-07058-2_27
Otani T, Uryu K, Yahara M, Iizuka A, Hamamoto S, Miyamae S et al. Hopping robot using pelvic movement and leg elasticity. In Mechanisms and Machine Science. Vol. 22. Kluwer Academic Publishers. 2014. p. 235-243 https://doi.org/10.1007/978-3-319-07058-2_27
Otani, Takuya ; Uryu, Kazuhiro ; Yahara, Masaaki ; Iizuka, Akihiro ; Hamamoto, Shinya ; Miyamae, Shunsuke ; Hashimoto, Kenji ; Destephe, Matthieu ; Sakaguchi, Masanori ; Kawakami, Yasuo ; Lim, Hun Ok ; Takanishi, Atsuo. / Hopping robot using pelvic movement and leg elasticity. Mechanisms and Machine Science. Vol. 22 Kluwer Academic Publishers, 2014. pp. 235-243
@inproceedings{ee05187fffb444889f0c153233ba1a5f,
title = "Hopping robot using pelvic movement and leg elasticity",
abstract = "Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.",
keywords = "Hopping, Human motion analysis, Humanoid",
author = "Takuya Otani and Kazuhiro Uryu and Masaaki Yahara and Akihiro Iizuka and Shinya Hamamoto and Shunsuke Miyamae and Kenji Hashimoto and Matthieu Destephe and Masanori Sakaguchi and Yasuo Kawakami and Lim, {Hun Ok} and Atsuo Takanishi",
year = "2014",
doi = "10.1007/978-3-319-07058-2_27",
language = "English",
isbn = "9783319070575",
volume = "22",
pages = "235--243",
booktitle = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",

}

TY - GEN

T1 - Hopping robot using pelvic movement and leg elasticity

AU - Otani, Takuya

AU - Uryu, Kazuhiro

AU - Yahara, Masaaki

AU - Iizuka, Akihiro

AU - Hamamoto, Shinya

AU - Miyamae, Shunsuke

AU - Hashimoto, Kenji

AU - Destephe, Matthieu

AU - Sakaguchi, Masanori

AU - Kawakami, Yasuo

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2014

Y1 - 2014

N2 - Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.

AB - Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.

KW - Hopping

KW - Human motion analysis

KW - Humanoid

UR - http://www.scopus.com/inward/record.url?scp=84927663222&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84927663222&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-07058-2_27

DO - 10.1007/978-3-319-07058-2_27

M3 - Conference contribution

AN - SCOPUS:84927663222

SN - 9783319070575

VL - 22

SP - 235

EP - 243

BT - Mechanisms and Machine Science

PB - Kluwer Academic Publishers

ER -