TY - GEN
T1 - Development of Prototype Electric-driven 2-DoF Monopod Robot for Hopping Motion
AU - Anzai, Asahi
AU - Doi, Toshihide
AU - Hashida, Kazuki
AU - Chen, Xuechao
AU - Han, Lianqiang
AU - Hashimoto, Kenji
N1 - Funding Information:
This work was performed under the Research Cluster for Autonomous Robotic Systems, Meiji University. This work was supported by JSPS Grants-in-Aid for Scientific Research JP20H04267. This work was also supported by the National Key Research and Development Project under Grant 2018YFE0126200.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/8
Y1 - 2021/8/8
N2 - The purpose of this study is to develop a one-legged hopping robot MH-1, which is the smallest configuration of a legged robot, with the long-term goal of developing a multi-legged robot capable of jumping and running. In this study, we aim to make MH-1 realize hopping while MH-1 is constrained so that it could only move in the vertical direction. The leg is a 2-DoF serial link mechanism with pitch axes at the hip and knee joints. Based on the simulation and experimental results of the prototype called MH-1P, the actuators and reduction gears were selected. We then designed and fabricated an electrically driven 2-DoF monopod robot (height: 510 mm, mass: 6.9 kg) that can withstand the impact of hopping and landing. As a result of the experiment on the actual robot, it was confirmed that MH-1 realized hopping based on the floor reaction force obtained from the force plate during hopping.
AB - The purpose of this study is to develop a one-legged hopping robot MH-1, which is the smallest configuration of a legged robot, with the long-term goal of developing a multi-legged robot capable of jumping and running. In this study, we aim to make MH-1 realize hopping while MH-1 is constrained so that it could only move in the vertical direction. The leg is a 2-DoF serial link mechanism with pitch axes at the hip and knee joints. Based on the simulation and experimental results of the prototype called MH-1P, the actuators and reduction gears were selected. We then designed and fabricated an electrically driven 2-DoF monopod robot (height: 510 mm, mass: 6.9 kg) that can withstand the impact of hopping and landing. As a result of the experiment on the actual robot, it was confirmed that MH-1 realized hopping based on the floor reaction force obtained from the force plate during hopping.
KW - hopping
KW - monopod robot
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U2 - 10.1109/ICMA52036.2021.9512643
DO - 10.1109/ICMA52036.2021.9512643
M3 - Conference contribution
AN - SCOPUS:85115169770
T3 - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
SP - 1182
EP - 1187
BT - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Y2 - 8 August 2021 through 11 August 2021
ER -