Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Shunsuke Miyamae, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

研究成果: Chapter

1 引用 (Scopus)

抄録

Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.

元の言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版者Springer International Publishing
ページ243-250
ページ数8
DOI
出版物ステータスPublished - 2016 1 1

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
569
ISSN(印刷物)0254-1971
ISSN(電子版)2309-3706

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Leaf springs
Stiffness
Worm gears
Robots
Leaves
Pendulums
Robot
Elasticity
Inverted Pendulum
Torque
Worm
Continue
Motion
Experiments
Experiment
Human

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Computer Science Applications
  • Modelling and Simulation

これを引用

Otani, T., Hashimoto, K., Isomichi, T., Miyamae, S., Sakaguchi, M., Kawakami, Y., ... Takanishi, A. (2016). Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. : CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 243-250). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_27

Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. / Otani, Takuya; Hashimoto, Kenji; Isomichi, Takaya; Miyamae, Shunsuke; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hun ok; Takanishi, Atsuo.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. p. 243-250 (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻 569).

研究成果: Chapter

Otani, T, Hashimoto, K, Isomichi, T, Miyamae, S, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2016, Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. : CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 巻. 569, Springer International Publishing, pp. 243-250. https://doi.org/10.1007/978-3-319-33714-2_27
Otani T, Hashimoto K, Isomichi T, Miyamae S, Sakaguchi M, Kawakami Y その他. Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. : CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2016. p. 243-250. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-319-33714-2_27
Otani, Takuya ; Hashimoto, Kenji ; Isomichi, Takaya ; Miyamae, Shunsuke ; Sakaguchi, Masanori ; Kawakami, Yasuo ; Lim, Hun ok ; Takanishi, Atsuo. / Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. pp. 243-250 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
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