Abstract
Human running motion can be modeled by a spring loaded inverted pendulum (SLIP). However, this model, despite being widely used in robotics, does not include human-like pelvic motion. In this study, we show that the pelvis actually contributes to the increase in jumping force and absorption of landing impact, both of which findings can be used to improve running robots. On the basis of the analysis of human running motion, we propose a new model named SLIP<sup>2</sup> (spring loaded inverted pendulum using pelvis). This model is composed of a body mass, a pelvis, and leg springs; the model can control its springs during running by use of pelvic movement in the frontal plane. To achieve hopping and running motions, we developed pelvis oscillation control, running velocity control, and stabilization control using an upper body, as control methods. We also developed a new hopping robot using the SLIP<sup>2</sup> model. To evaluate the proposed model and control methods, we performed hopping and running simulations. The simulation results showed that the SLIP<sup>2</sup> model successfully achieves hopping and running motions. The hopping robot was also able to accomplish hopping motion. The simulation results also showed that the difference between the pelvic rotational phase and the phase of oscillation of the mass vertical displacement affects the jumping force. In particular, the results revealed that the human-like pelvic rotation contributes to the absorption of landing impact and to the increase in takeoff forces, which validates our observations in human motion analysis.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2313-2318 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2014 Sep 22 |
| Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7 |
Other
| Other | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 |
|---|---|
| Country | China |
| City | Hong Kong |
| Period | 14/5/31 → 14/6/7 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Running model and hopping robot using pelvic movement and leg elasticity. / Otani, Takuya; Yahara, M.; Uryu, K.; Iizuka, A.; Hashimoto, K.; Kishi, T.; Endo, N.; Sakaguchi, M.; Kawakami, Yasuo; Hyon, S. H.; Lim, H. O.; Takanishi, Atsuo.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2313-2318 6907179.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Running model and hopping robot using pelvic movement and leg elasticity
AU - Otani, Takuya
AU - Yahara, M.
AU - Uryu, K.
AU - Iizuka, A.
AU - Hashimoto, K.
AU - Kishi, T.
AU - Endo, N.
AU - Sakaguchi, M.
AU - Kawakami, Yasuo
AU - Hyon, S. H.
AU - Lim, H. O.
AU - Takanishi, Atsuo
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Human running motion can be modeled by a spring loaded inverted pendulum (SLIP). However, this model, despite being widely used in robotics, does not include human-like pelvic motion. In this study, we show that the pelvis actually contributes to the increase in jumping force and absorption of landing impact, both of which findings can be used to improve running robots. On the basis of the analysis of human running motion, we propose a new model named SLIP2 (spring loaded inverted pendulum using pelvis). This model is composed of a body mass, a pelvis, and leg springs; the model can control its springs during running by use of pelvic movement in the frontal plane. To achieve hopping and running motions, we developed pelvis oscillation control, running velocity control, and stabilization control using an upper body, as control methods. We also developed a new hopping robot using the SLIP2 model. To evaluate the proposed model and control methods, we performed hopping and running simulations. The simulation results showed that the SLIP2 model successfully achieves hopping and running motions. The hopping robot was also able to accomplish hopping motion. The simulation results also showed that the difference between the pelvic rotational phase and the phase of oscillation of the mass vertical displacement affects the jumping force. In particular, the results revealed that the human-like pelvic rotation contributes to the absorption of landing impact and to the increase in takeoff forces, which validates our observations in human motion analysis.
AB - Human running motion can be modeled by a spring loaded inverted pendulum (SLIP). However, this model, despite being widely used in robotics, does not include human-like pelvic motion. In this study, we show that the pelvis actually contributes to the increase in jumping force and absorption of landing impact, both of which findings can be used to improve running robots. On the basis of the analysis of human running motion, we propose a new model named SLIP2 (spring loaded inverted pendulum using pelvis). This model is composed of a body mass, a pelvis, and leg springs; the model can control its springs during running by use of pelvic movement in the frontal plane. To achieve hopping and running motions, we developed pelvis oscillation control, running velocity control, and stabilization control using an upper body, as control methods. We also developed a new hopping robot using the SLIP2 model. To evaluate the proposed model and control methods, we performed hopping and running simulations. The simulation results showed that the SLIP2 model successfully achieves hopping and running motions. The hopping robot was also able to accomplish hopping motion. The simulation results also showed that the difference between the pelvic rotational phase and the phase of oscillation of the mass vertical displacement affects the jumping force. In particular, the results revealed that the human-like pelvic rotation contributes to the absorption of landing impact and to the increase in takeoff forces, which validates our observations in human motion analysis.
UR - http://www.scopus.com/inward/record.url?scp=84929208347&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929208347&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907179
DO - 10.1109/ICRA.2014.6907179
M3 - Conference contribution
AN - SCOPUS:84929208347
SP - 2313
EP - 2318
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
ER -