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 proceedingChapter

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 languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages243-250
Number of pages8
DOIs
Publication statusPublished - 2016 Jan 1

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume569
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

  • Mechanical Engineering
  • Mechanics of Materials
  • Computer Science Applications
  • Modelling and Simulation

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  • Cite this

    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