Mechanism of one-legged jumping robot with artificial musculoskeletal system

Hideki Iijima, Keisuke Sayama, Hiroyuki Masuta, Atsuo Takanishi, Hun Ok Lim

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper describes the mechanism and vertical jumping pattern 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. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.

本文言語English
ホスト出版物のタイトルICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
ページ869-874
ページ数6
DOI
出版ステータスPublished - 2013 12月 1
外部発表はい
イベント2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
継続期間: 2013 10月 202013 10月 23

出版物シリーズ

名前International Conference on Control, Automation and Systems
ISSN(印刷版)1598-7833

Conference

Conference2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
国/地域Korea, Republic of
CityGwangju
Period13/10/2013/10/23

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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