Abstract
This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot's height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.
Original language | English |
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Title of host publication | ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings |
Publisher | IEEE Computer Society |
Pages | 1396-1400 |
Number of pages | 5 |
Volume | 2017-October |
ISBN (Electronic) | 9788993215137 |
DOIs | |
Publication status | Published - 2017 Dec 13 |
Event | 17th International Conference on Control, Automation and Systems, ICCAS 2017 - Jeju, Korea, Republic of Duration: 2017 Oct 18 → 2017 Oct 21 |
Other
Other | 17th International Conference on Control, Automation and Systems, ICCAS 2017 |
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Country/Territory | Korea, Republic of |
City | Jeju |
Period | 17/10/18 → 17/10/21 |
Keywords
- Artificial muscle
- Jumping pattern
- Jumping robot
- One-legged robot
- Pneumatic actuator
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering