Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

Takuya Otani; Kenji Hashimoto; Takaya Isomichi; Shunsuke Miyamae; Masanori Sakaguchi; Yasuo Kawakami; Hun ok Lim; Atsuo Takanishi

doi:10.1007/978-3-319-33714-2_27

Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Shunsuke Miyamae, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceeding › Chapter

1 Citation (Scopus)

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	https://doi.org/10.1007/978-3-319-33714-2_27
Publication status	Published - 2016

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	569
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Carbon Fiber Reinforce Plastic
Humanoid Robot
Joint Stiffness
Joint Torque
Stance Phase

ASJC Scopus subject areas

Modelling and Simulation
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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10.1007/978-3-319-33714-2_27

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Otani, T., Hashimoto, K., Isomichi, T., Miyamae, S., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2016). Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 243-250). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_27

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

Otani, T, Hashimoto, K, Isomichi, T, Miyamae, S, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2016, Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 569, Springer International Publishing, pp. 243-250. https://doi.org/10.1007/978-3-319-33714-2_27

Otani T, Hashimoto K, Isomichi T, Miyamae S, Sakaguchi M, Kawakami Y et al. Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. In 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). https://doi.org/10.1007/978-3-319-33714-2_27

Otani, Takuya ; Hashimoto, Kenji ; Isomichi, Takaya ; Miyamae, Shunsuke ; Sakaguchi, Masanori ; Kawakami, Yasuo ; Lim, Hun ok ; Takanishi, Atsuo. / Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. pp. 243-250 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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title = "Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human",

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.",

keywords = "Carbon Fiber Reinforce Plastic, Humanoid Robot, Joint Stiffness, Joint Torque, Stance Phase",

author = "Takuya Otani and Kenji Hashimoto and Takaya Isomichi and Shunsuke Miyamae and Masanori Sakaguchi and Yasuo Kawakami and Lim, {Hun ok} and Atsuo Takanishi",

note = "Funding Information: Acknowledgements This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Institute of Advanced Active Aging Research, Waseda University; Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 25709019; Mizuho Foundation for the Promotion of Sciences; SolidWorks Japan K.K.; TohoTenax Co., Ltd.; and DYDEN Corporation; we thank all of them for the financial and technical support provided. Further, the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.) Publisher Copyright: {\textcopyright} 2016, CISM International Centre for Mechanical Sciences.",

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AU - Sakaguchi, Masanori

AU - Kawakami, Yasuo

AU - Lim, Hun ok

AU - Takanishi, Atsuo

N1 - Funding Information: Acknowledgements This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Institute of Advanced Active Aging Research, Waseda University; Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 25709019; Mizuho Foundation for the Promotion of Sciences; SolidWorks Japan K.K.; TohoTenax Co., Ltd.; and DYDEN Corporation; we thank all of them for the financial and technical support provided. Further, the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.) Publisher Copyright: © 2016, CISM International Centre for Mechanical Sciences.

PY - 2016

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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.

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Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

Abstract

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