Running model and hopping robot using pelvic movement and leg elasticity

Takuya Otani, M. Yahara, K. Uryu, A. Iizuka, K. Hashimoto, T. Kishi, N. Endo, M. Sakaguchi, Yasuo Kawakami, S. H. Hyon, H. O. Lim, Atsuo Takanishi

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

4 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2313-2318
Number of pages6
DOIs
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period14/5/3114/6/7

Fingerprint

Elasticity
Robots
Pendulums
Landing
Velocity control
Takeoff
Robotics
Stabilization

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Otani, T., Yahara, M., Uryu, K., Iizuka, A., Hashimoto, K., Kishi, T., ... Takanishi, A. (2014). Running model and hopping robot using pelvic movement and leg elasticity. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2313-2318). [6907179] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907179

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 proceedingConference contribution

Otani, T, Yahara, M, Uryu, K, Iizuka, A, Hashimoto, K, Kishi, T, Endo, N, Sakaguchi, M, Kawakami, Y, Hyon, SH, Lim, HO & Takanishi, A 2014, Running model and hopping robot using pelvic movement and leg elasticity. in Proceedings - IEEE International Conference on Robotics and Automation., 6907179, Institute of Electrical and Electronics Engineers Inc., pp. 2313-2318, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 14/5/31. https://doi.org/10.1109/ICRA.2014.6907179
Otani T, Yahara M, Uryu K, Iizuka A, Hashimoto K, Kishi T et al. Running model and hopping robot using pelvic movement and leg elasticity. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2313-2318. 6907179 https://doi.org/10.1109/ICRA.2014.6907179
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. / Running model and hopping robot using pelvic movement and leg elasticity. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2313-2318
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