Jumping pattern generation for one-legged jumping robot

Akira Umehara; Yuya Yamamoto; Haruyoshi Nishi; Atsuo Takanishi; Hun Ok Lim

doi:10.23919/ICCAS.2017.8204211

Jumping pattern generation for one-legged jumping robot

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (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 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	https://doi.org/10.23919/ICCAS.2017.8204211
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

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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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

Jumping pattern generation for one-legged jumping robot. / Umehara, Akira; Yamamoto, Yuya; Nishi, Haruyoshi; Takanishi, Atsuo; Lim, Hun Ok.

ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings. Vol. 2017-October IEEE Computer Society, 2017. p. 1396-1400.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Umehara, A, Yamamoto, Y, Nishi, H, Takanishi, A & Lim, HO 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, IEEE Computer Society, pp. 1396-1400, 17th International Conference on Control, Automation and Systems, ICCAS 2017, Jeju, Korea, Republic of, 17/10/18. https://doi.org/10.23919/ICCAS.2017.8204211

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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.",

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