Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators

Yuya Yamamoto; Haruyoshi Nishi; Yusuke Torii; Atsuo Takanishi; Hun Ok Lim

doi:10.1109/ICCAS.2016.7832454

Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators

Yuya Yamamoto, Haruyoshi Nishi, Yusuke Torii, Atsuo Takanishi, Hun Ok Lim

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

5 Citations (Scopus)

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	https://doi.org/10.1109/ICCAS.2016.7832454
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

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

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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

Yamamoto, Y, Nishi, H, Torii, Y, Takanishi, A & Lim, HO 2017, Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832454, IEEE Computer Society, pp. 1132-1136, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832454

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