Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase

T. Otani, T. George, K. Uryu, M. Yahara, A. Iizuka, S. Hamamoto, S. Miyamae, K. Hashimoto, M. Destephe, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

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

3 Citations (Scopus)

Abstract

In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.

Original languageEnglish
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages481-486
Number of pages6
ISBN (Electronic)9781479971749
DOIs
Publication statusPublished - 2015 Feb 12
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 2014 Nov 182014 Nov 20

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period14/11/1814/11/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Otani, T., George, T., Uryu, K., Yahara, M., Iizuka, A., Hamamoto, S., Miyamae, S., Hashimoto, K., Destephe, M., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2015). Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (pp. 481-486). [7041405] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041405