TY - GEN
T1 - Jumping pattern generation for one-legged jumping robot
AU - Umehara, Akira
AU - Yamamoto, Yuya
AU - Nishi, Haruyoshi
AU - Takanishi, Atsuo
AU - Lim, Hun Ok
N1 - Publisher Copyright:
© 2017 Institute of Control, Robotics and Systems - ICROS.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - 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.
AB - 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.
KW - Artificial muscle
KW - Jumping pattern
KW - Jumping robot
KW - One-legged robot
KW - Pneumatic actuator
UR - http://www.scopus.com/inward/record.url?scp=85044472335&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85044472335&partnerID=8YFLogxK
U2 - 10.23919/ICCAS.2017.8204211
DO - 10.23919/ICCAS.2017.8204211
M3 - Conference contribution
AN - SCOPUS:85044472335
T3 - International Conference on Control, Automation and Systems
SP - 1396
EP - 1400
BT - ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
PB - IEEE Computer Society
T2 - 17th International Conference on Control, Automation and Systems, ICCAS 2017
Y2 - 18 October 2017 through 21 October 2017
ER -