Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity

Takuya Otani, K. Hashimoto, H. Ueta, M. Sakaguchi, Yasuo Kawakami, H. O. Lim, Atsuo Takanishi

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

Abstract

To improve the movement ability of humanoid robots, instead of traditional methods dependent on only power of actuators, there is possibility that utilizing elasticity inspired from collaboration of muscle and tendon of human is effective to achieve high-power movement. In this study, we aimed to realize a jumping motion that accumulates energy more appropriately in spring by combining active joint driving with spring behavior like human tendons and muscles. We proposed a countermovement jump method using the resonance with the leg's active pushing-off movement and leg stiffness. To achieve active pushing-off and joint stiffness, we developed a new joint mechanism using leaf springs and an actuator unit with a worm gear. We then performed experiments to evaluate the effectiveness of the proposed mechanism and methods. Finally, the robot achieved a countermovement jump using active kicking and leg's elasticity.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8707-8714
Number of pages8
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 2018 Dec 27
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period18/10/118/10/5

Fingerprint

Tendons
Muscle
Elasticity
Actuators
Stiffness
Worm gears
Robots
Leaf springs
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Otani, T., Hashimoto, K., Ueta, H., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2018). Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 8707-8714). [8594085] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594085

Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. / Otani, Takuya; Hashimoto, K.; Ueta, H.; Sakaguchi, M.; Kawakami, Yasuo; Lim, H. O.; Takanishi, Atsuo.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 8707-8714 8594085 (IEEE International Conference on Intelligent Robots and Systems).

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

Otani, T, Hashimoto, K, Ueta, H, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2018, Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594085, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 8707-8714, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 18/10/1. https://doi.org/10.1109/IROS.2018.8594085
Otani T, Hashimoto K, Ueta H, Sakaguchi M, Kawakami Y, Lim HO et al. Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 8707-8714. 8594085. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8594085
Otani, Takuya ; Hashimoto, K. ; Ueta, H. ; Sakaguchi, M. ; Kawakami, Yasuo ; Lim, H. O. ; Takanishi, Atsuo. / Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 8707-8714 (IEEE International Conference on Intelligent Robots and Systems).
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