Jumping motion control of one-legged jumping robot with pneumatic muscles

Yuta Ishiyama, Yuya Yamamoto, Atsuo Takanishi, Hun ok Lim*

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.

本文言語English
ホスト出版物のタイトルInternational Conference on Control, Automation and Systems
出版社IEEE Computer Society
ページ225-230
ページ数6
ISBN(電子版)9788993215151
出版ステータスPublished - 2018 12月 10
イベント18th International Conference on Control, Automation and Systems, ICCAS 2018 - PyeongChang, Korea, Republic of
継続期間: 2018 10月 172018 10月 20

出版物シリーズ

名前International Conference on Control, Automation and Systems
2018-October
ISSN(印刷版)1598-7833

Other

Other18th International Conference on Control, Automation and Systems, ICCAS 2018
国/地域Korea, Republic of
CityPyeongChang
Period18/10/1718/10/20

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 電子工学および電気工学

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