Abstract
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles, were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were conducted, and the effectiveness of the mechanism and jumping pattern was verified.
| Original language | English |
|---|---|
| Title of host publication | ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | IEEE Computer Society |
| Pages | 1132-1136 |
| Number of pages | 5 |
| ISBN (Electronic) | 9788993215120 |
| DOIs | |
| Publication status | Published - 2017 Jan 24 |
| Event | 16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 2016 Oct 16 → 2016 Oct 19 |
Other
| Other | 16th International Conference on Control, Automation and Systems, ICCAS 2016 |
|---|---|
| Country | Korea, Republic of |
| City | Gyeongju |
| Period | 16/10/16 → 16/10/19 |
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Keywords
- Humanoid Robots
- jumping pattern
- Legged Robot
- pneumatic muscle
- skeletal system
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators. / Yamamoto, Yuya; Nishi, Haruyoshi; Torii, Yusuke; Takanishi, Atsuo; Lim, Hun Ok.
ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2017. p. 1132-1136 7832454.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators
AU - Yamamoto, Yuya
AU - Nishi, Haruyoshi
AU - Torii, Yusuke
AU - Takanishi, Atsuo
AU - Lim, Hun Ok
PY - 2017/1/24
Y1 - 2017/1/24
N2 - This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles, were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were conducted, and the effectiveness of the mechanism and jumping pattern was verified.
AB - This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles, were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were conducted, and the effectiveness of the mechanism and jumping pattern was verified.
KW - Humanoid Robots
KW - jumping pattern
KW - Legged Robot
KW - pneumatic muscle
KW - skeletal system
UR - http://www.scopus.com/inward/record.url?scp=85014056867&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85014056867&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2016.7832454
DO - 10.1109/ICCAS.2016.7832454
M3 - Conference contribution
SP - 1132
EP - 1136
BT - ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PB - IEEE Computer Society
ER -