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

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

研究成果: Conference contribution

4 被引用数 (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.

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

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2015-February
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
国/地域Spain
CityMadrid
Period14/11/1814/11/20

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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