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 被引用数 (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.

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

出版物シリーズ

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

ASJC Scopus subject areas

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

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