Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity

Takuya Otani, K. Hashimoto, H. Ueta, M. Sakaguchi, Yasuo Kawakami, H. O. Lim, Atsuo Takanishi

研究成果: Conference contribution

抄録

To improve the movement ability of humanoid robots, instead of traditional methods dependent on only power of actuators, there is possibility that utilizing elasticity inspired from collaboration of muscle and tendon of human is effective to achieve high-power movement. In this study, we aimed to realize a jumping motion that accumulates energy more appropriately in spring by combining active joint driving with spring behavior like human tendons and muscles. We proposed a countermovement jump method using the resonance with the leg's active pushing-off movement and leg stiffness. To achieve active pushing-off and joint stiffness, we developed a new joint mechanism using leaf springs and an actuator unit with a worm gear. We then performed experiments to evaluate the effectiveness of the proposed mechanism and methods. Finally, the robot achieved a countermovement jump using active kicking and leg's elasticity.

元の言語English
ホスト出版物のタイトル2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ8707-8714
ページ数8
ISBN(電子版)9781538680940
DOI
出版物ステータスPublished - 2018 12 27
イベント2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
継続期間: 2018 10 12018 10 5

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Spain
Madrid
期間18/10/118/10/5

Fingerprint

Tendons
Muscle
Elasticity
Actuators
Stiffness
Worm gears
Robots
Leaf springs
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Otani, T., Hashimoto, K., Ueta, H., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2018). Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 8707-8714). [8594085] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594085

Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. / Otani, Takuya; Hashimoto, K.; Ueta, H.; Sakaguchi, M.; Kawakami, Yasuo; Lim, H. O.; Takanishi, Atsuo.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 8707-8714 8594085 (IEEE International Conference on Intelligent Robots and Systems).

研究成果: Conference contribution

Otani, T, Hashimoto, K, Ueta, H, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2018, Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594085, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 8707-8714, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 18/10/1. https://doi.org/10.1109/IROS.2018.8594085
Otani T, Hashimoto K, Ueta H, Sakaguchi M, Kawakami Y, Lim HO その他. Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 8707-8714. 8594085. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8594085
Otani, Takuya ; Hashimoto, K. ; Ueta, H. ; Sakaguchi, M. ; Kawakami, Yasuo ; Lim, H. O. ; Takanishi, Atsuo. / Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 8707-8714 (IEEE International Conference on Intelligent Robots and Systems).
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