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

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトルMechanisms and Machine Science
出版者Kluwer Academic Publishers
ページ235-243
ページ数9
22
ISBN(印刷物)9783319070575
DOI
出版物ステータス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 232014 6 26

Other

Other20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
Russian Federation
Moscow
期間14/6/2314/6/26

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • これを引用

    Otani, T., Uryu, K., Yahara, M., Iizuka, A., Hamamoto, S., Miyamae, S., Hashimoto, K., Destephe, M., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2014). Hopping robot using pelvic movement and leg elasticity. : Mechanisms and Machine Science (巻 22, pp. 235-243). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-07058-2_27