Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators

Yuya Yamamoto, Haruyoshi Nishi, Yusuke Torii, Atsuo Takanishi, Hun Ok Lim

    研究成果: Conference contribution

    6 被引用数 (Scopus)

    抄録

    This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles, were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were 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 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
    出版社IEEE Computer Society
    ページ1132-1136
    ページ数5
    ISBN(電子版)9788993215120
    DOI
    出版ステータスPublished - 2017 1月 24
    イベント16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
    継続期間: 2016 10月 162016 10月 19

    Other

    Other16th International Conference on Control, Automation and Systems, ICCAS 2016
    国/地域Korea, Republic of
    CityGyeongju
    Period16/10/1616/10/19

    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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