Jumping pattern generation for one-legged jumping robot

Akira Umehara, Yuya Yamamoto, Haruyoshi Nishi, Atsuo Takanishi, Hun Ok Lim

    研究成果: Conference contribution

    1 被引用数 (Scopus)

    抄録

    This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot's height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.

    本文言語English
    ホスト出版物のタイトルICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
    出版社IEEE Computer Society
    ページ1396-1400
    ページ数5
    2017-October
    ISBN(電子版)9788993215137
    DOI
    出版ステータスPublished - 2017 12 13
    イベント17th International Conference on Control, Automation and Systems, ICCAS 2017 - Jeju, Korea, Republic of
    継続期間: 2017 10 182017 10 21

    Other

    Other17th International Conference on Control, Automation and Systems, ICCAS 2017
    国/地域Korea, Republic of
    CityJeju
    Period17/10/1817/10/21

    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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