Jumping motion control of one-legged jumping robot with pneumatic muscles

Yuta Ishiyama, Yuya Yamamoto, Atsuo Takanishi, Hun ok Lim

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

1 Citation (Scopus)

Abstract

This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages225-230
Number of pages6
ISBN (Electronic)9788993215151
Publication statusPublished - 2018 Dec 10
Event18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of
Duration: 2018 Oct 172018 Oct 20

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2018-October
ISSN (Print)1598-7833

Other

Other18th International Conference on Control, Automation and Systems, ICCAS 2018
CountryKorea, Republic of
CityPyeongChang
Period18/10/1718/10/20

Keywords

  • Flight phase
  • Jumping robot
  • Lift-off phase
  • Mathematical modeling
  • Pneumatic artificial muscle

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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