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 |
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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 |
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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