Robotic Ankle Mechanism Capable of Kicking while Jumping and Running and Adaptable to Change in Running Speed

H. Mineshita, T. Otani, K. Hashimoto, M. Sakaguchi, Y. Kawakami, H. O. Lim, A. Takanishi

研究成果: Conference contribution

抄録

When humanoid robots perform dynamic operations such as jumping and running, large outputs are required at each joint. It is known that humans save energy by using muscles and tendons effectively during dynamic motion. Therefore, we consider that energy saving and dynamic motion can be realized in robots by adding elements that replace such muscles and tendons. Based on this, we previously developed a robot with elasticity in the leg joints. However, its ankle joint mechanism did not have sufficient power to kick like a human while running. In addition, although the joint quasi-stiffness of the human leg changed according to the running speed, it could not handle high speeds nor simulate the required stiffness at low speeds. Therefore, we developed an ankle mechanism that is capable of kicking while jumping and running and adaptable to changes in running speed. By placing leaf springs in series, the mechanism achieved a joint stiffness of 250 to 350 Nm/rad, which is the ankle joint quasi-stiffness required for running at speeds of 2.0 to 5.0 m/s. By using a double motor, moreover, the mechanism succeeded at active kicking with a load torque of 110 Nm, equivalent to the value of active kicking while jumping.

本文言語English
ホスト出版物のタイトル2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
出版社IEEE Computer Society
ページ505-510
ページ数6
ISBN(電子版)9781538676301
DOI
出版ステータスPublished - 2019 10
イベント19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019 - Toronto, Canada
継続期間: 2019 10 152019 10 17

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2019-October
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Conference

Conference19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
国/地域Canada
CityToronto
Period19/10/1519/10/17

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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