Hopping robot using pelvic movement and leg elasticity

Takuya Otani, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun Ok Lim, Atsuo Takanishi*

*この研究の対応する著者

研究成果: Conference contribution

抄録

Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.

本文言語English
ホスト出版物のタイトルAdvances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
編集者Victor A. Glazunov, Marco Ceccarelli
出版社Kluwer Academic Publishers
ページ235-243
ページ数9
ISBN(電子版)9783319070575
DOI
出版ステータスPublished - 2014
イベント20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 - Moscow, Russian Federation
継続期間: 2014 6月 232014 6月 26

出版物シリーズ

名前Mechanisms and Machine Science
22
ISSN(印刷版)2211-0984
ISSN(電子版)2211-0992

Other

Other20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
国/地域Russian Federation
CityMoscow
Period14/6/2314/6/26

ASJC Scopus subject areas

  • 材料力学
  • 機械工学

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