Mechanism of one-legged jumping robot with artificial musculoskeletal system

Hideki Iijima, Keisuke Sayama, Hiroyuki Masuta, Atsuo Takanishi, Hun Ok Lim

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

3 Citations (Scopus)

Abstract

This paper describes the mechanism and vertical jumping pattern 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. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.

Original languageEnglish
Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages869-874
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Externally publishedYes
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: 2013 Oct 202013 Oct 23

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Conference

Conference2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period13/10/2013/10/23

Keywords

  • Artificial muscle
  • Jumping robot
  • Muscular and skeletal system
  • One-legged robot
  • Pneumatic actuator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Mechanism of one-legged jumping robot with artificial musculoskeletal system'. Together they form a unique fingerprint.

Cite this