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 proceedingConference 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 languageEnglish
    Title of host publicationICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
    PublisherIEEE Computer Society
    Pages1396-1400
    Number of pages5
    Volume2017-October
    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

    Other

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

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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