Robotic Ankle Mechanism Capable of Kicking while Jumping and Running and Adaptable to Change in Running Speed

H. Mineshita, T. Otani, K. Hashimoto, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

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

Abstract

When humanoid robots perform dynamic operations such as jumping and running, large outputs are required at each joint. It is known that humans save energy by using muscles and tendons effectively during dynamic motion. Therefore, we consider that energy saving and dynamic motion can be realized in robots by adding elements that replace such muscles and tendons. Based on this, we previously developed a robot with elasticity in the leg joints. However, its ankle joint mechanism did not have sufficient power to kick like a human while running. In addition, although the joint quasi-stiffness of the human leg changed according to the running speed, it could not handle high speeds nor simulate the required stiffness at low speeds. Therefore, we developed an ankle mechanism that is capable of kicking while jumping and running and adaptable to changes in running speed. By placing leaf springs in series, the mechanism achieved a joint stiffness of 250 to 350 Nm/rad, which is the ankle joint quasi-stiffness required for running at speeds of 2.0 to 5.0 m/s. By using a double motor, moreover, the mechanism succeeded at active kicking with a load torque of 110 Nm, equivalent to the value of active kicking while jumping.

Original languageEnglish
Title of host publication2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PublisherIEEE Computer Society
Pages505-510
Number of pages6
ISBN (Electronic)9781538676301
DOIs
Publication statusPublished - 2019 Oct
Event19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019 - Toronto, Canada
Duration: 2019 Oct 152019 Oct 17

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2019-October
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
CountryCanada
CityToronto
Period19/10/1519/10/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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    Mineshita, H., Otani, T., Hashimoto, K., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2019). Robotic Ankle Mechanism Capable of Kicking while Jumping and Running and Adaptable to Change in Running Speed. In 2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019 (pp. 505-510). [9035057] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/Humanoids43949.2019.9035057