Jumping pattern generation for one-legged jumping robot

Akira Umehara, Yuya Yamamoto, Haruyoshi Nishi, Atsuo Takanishi, Hun Ok Lim*

*Corresponding author for this work

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

2 Citations (Scopus)

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 languageEnglish
Title of host publicationICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
PublisherIEEE Computer Society
Pages1396-1400
Number of pages5
ISBN (Electronic)9788993215137
DOIs
Publication statusPublished - 2017 Dec 13
Event17th International Conference on Control, Automation and Systems, ICCAS 2017 - Jeju, Korea, Republic of
Duration: 2017 Oct 182017 Oct 21

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2017-October
ISSN (Print)1598-7833

Other

Other17th International Conference on Control, Automation and Systems, ICCAS 2017
Country/TerritoryKorea, Republic of
CityJeju
Period17/10/1817/10/21

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

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