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 proceedingConference contribution

    4 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 languageEnglish
    Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
    PublisherIEEE Computer Society
    Pages1132-1136
    Number of pages5
    ISBN (Electronic)9788993215120
    DOIs
    Publication statusPublished - 2017 Jan 24
    Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
    Duration: 2016 Oct 162016 Oct 19

    Other

    Other16th International Conference on Control, Automation and Systems, ICCAS 2016
    CountryKorea, Republic of
    CityGyeongju
    Period16/10/1616/10/19

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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

    Yamamoto, Y., Nishi, H., Torii, Y., Takanishi, A., & Lim, H. O. (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 (pp. 1132-1136). [7832454] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832454