Abstract
Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.
| Original language | English |
|---|---|
| Title of host publication | CISM International Centre for Mechanical Sciences, Courses and Lectures |
| Publisher | Springer International Publishing |
| Pages | 243-250 |
| Number of pages | 8 |
| DOIs | |
| Publication status | Published - 2016 Jan 1 |
Publication series
| Name | CISM International Centre for Mechanical Sciences, Courses and Lectures |
|---|---|
| Volume | 569 |
| ISSN (Print) | 0254-1971 |
| ISSN (Electronic) | 2309-3706 |
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Keywords
- Carbon Fiber Reinforce Plastic
- Humanoid Robot
- Joint Stiffness
- Joint Torque
- Stance Phase
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Computer Science Applications
- Modelling and Simulation
Cite this
Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. / Otani, Takuya; Hashimoto, Kenji; Isomichi, Takaya; Miyamae, Shunsuke; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hun ok; Takanishi, Atsuo.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. p. 243-250 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human
AU - Otani, Takuya
AU - Hashimoto, Kenji
AU - Isomichi, Takaya
AU - Miyamae, Shunsuke
AU - Sakaguchi, Masanori
AU - Kawakami, Yasuo
AU - Lim, Hun ok
AU - Takanishi, Atsuo
PY - 2016/1/1
Y1 - 2016/1/1
N2 - Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.
AB - Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.
KW - Carbon Fiber Reinforce Plastic
KW - Humanoid Robot
KW - Joint Stiffness
KW - Joint Torque
KW - Stance Phase
UR - http://www.scopus.com/inward/record.url?scp=85051297580&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85051297580&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-33714-2_27
DO - 10.1007/978-3-319-33714-2_27
M3 - Chapter
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 243
EP - 250
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -