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 |
|---|---|
| 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 |
|---|---|
| Country | Korea, Republic of |
| City | Jeju |
| Period | 17/10/18 → 17/10/21 |
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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
Cite this
Umehara, A., Yamamoto, Y., Nishi, H., Takanishi, A., & Lim, H. O. (2017). Jumping pattern generation for one-legged jumping robot. In ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings (Vol. 2017-October, pp. 1396-1400). IEEE Computer Society. https://doi.org/10.23919/ICCAS.2017.8204211