Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase

Takuya Otani, T. George, K. Uryu, M. Yahara, A. Iizuka, S. Hamamoto, S. Miyamae, K. Hashimoto, M. Destephe, M. Sakaguchi, Yasuo Kawakami, H. O. Lim, Atsuo Takanishi

研究成果: Conference contribution

2 引用 (Scopus)

抄録

In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.

元の言語English
ホスト出版物のタイトルIEEE-RAS International Conference on Humanoid Robots
出版者IEEE Computer Society
ページ481-486
ページ数6
2015-February
ISBN(印刷物)9781479971749
DOI
出版物ステータスPublished - 2015 2 12
イベント2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
継続期間: 2014 11 182014 11 20

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Spain
Madrid
期間14/11/1814/11/20

Fingerprint

Leaf springs
Stiffness
Robots
Torsional stress

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

これを引用

Otani, T., George, T., Uryu, K., Yahara, M., Iizuka, A., Hamamoto, S., ... Takanishi, A. (2015). Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. : IEEE-RAS International Conference on Humanoid Robots (巻 2015-February, pp. 481-486). [7041405] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041405

Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. / Otani, Takuya; George, T.; Uryu, K.; Yahara, M.; Iizuka, A.; Hamamoto, S.; Miyamae, S.; Hashimoto, K.; Destephe, M.; Sakaguchi, M.; Kawakami, Yasuo; Lim, H. O.; Takanishi, Atsuo.

IEEE-RAS International Conference on Humanoid Robots. 巻 2015-February IEEE Computer Society, 2015. p. 481-486 7041405.

研究成果: Conference contribution

Otani, T, George, T, Uryu, K, Yahara, M, Iizuka, A, Hamamoto, S, Miyamae, S, Hashimoto, K, Destephe, M, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2015, Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. : IEEE-RAS International Conference on Humanoid Robots. 巻. 2015-February, 7041405, IEEE Computer Society, pp. 481-486, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 14/11/18. https://doi.org/10.1109/HUMANOIDS.2014.7041405
Otani T, George T, Uryu K, Yahara M, Iizuka A, Hamamoto S その他. Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. : IEEE-RAS International Conference on Humanoid Robots. 巻 2015-February. IEEE Computer Society. 2015. p. 481-486. 7041405 https://doi.org/10.1109/HUMANOIDS.2014.7041405
Otani, Takuya ; George, T. ; Uryu, K. ; Yahara, M. ; Iizuka, A. ; Hamamoto, S. ; Miyamae, S. ; Hashimoto, K. ; Destephe, M. ; Sakaguchi, M. ; Kawakami, Yasuo ; Lim, H. O. ; Takanishi, Atsuo. / Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase. IEEE-RAS International Conference on Humanoid Robots. 巻 2015-February IEEE Computer Society, 2015. pp. 481-486
@inproceedings{6b41f9ea868a44f39a50176859386fa2,
title = "Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase",
abstract = "In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.",
author = "Takuya Otani and T. George and K. Uryu and M. Yahara and A. Iizuka and S. Hamamoto and S. Miyamae and K. Hashimoto and M. Destephe and M. Sakaguchi and Yasuo Kawakami and Lim, {H. O.} and Atsuo Takanishi",
year = "2015",
month = "2",
day = "12",
doi = "10.1109/HUMANOIDS.2014.7041405",
language = "English",
isbn = "9781479971749",
volume = "2015-February",
pages = "481--486",
booktitle = "IEEE-RAS International Conference on Humanoid Robots",
publisher = "IEEE Computer Society",

}

TY - GEN

T1 - Leg with rotational joint that mimics elastic characteristics of human leg in running stance phase

AU - Otani, Takuya

AU - George, T.

AU - Uryu, K.

AU - Yahara, M.

AU - Iizuka, A.

AU - Hamamoto, S.

AU - Miyamae, S.

AU - Hashimoto, K.

AU - Destephe, M.

AU - Sakaguchi, M.

AU - Kawakami, Yasuo

AU - Lim, H. O.

AU - Takanishi, Atsuo

PY - 2015/2/12

Y1 - 2015/2/12

N2 - In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.

AB - In this paper, we describe the development of a leg with a rotational joint that mimics the elastic characteristics of the leg of a running human. The purpose of this development was to realize the dynamics of human running, the analysis of which has revealed that the motion of the leg can be modeled by a compression spring and that of the leg joint by a torsion spring. We, therefore, assumed that these elastic characteristics could be used to develop robots capable of human-like running, which requires higher output power than that of existing humanoid robots. Hence, we developed a model of a leg with a rotational joint and fabricated the leg by incorporating a mechanism comprising of two leaf springs for adjusting the joint stiffness. By this means, we were able to achieve human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We evaluated the performance of the adjustable stiffness of the joints, and were also able to achieve hopping by resonance of the rotational leg joint.

UR - http://www.scopus.com/inward/record.url?scp=84945178966&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84945178966&partnerID=8YFLogxK

U2 - 10.1109/HUMANOIDS.2014.7041405

DO - 10.1109/HUMANOIDS.2014.7041405

M3 - Conference contribution

AN - SCOPUS:84945178966

SN - 9781479971749

VL - 2015-February

SP - 481

EP - 486

BT - IEEE-RAS International Conference on Humanoid Robots

PB - IEEE Computer Society

ER -