TY - GEN
T1 - Jumping motion control of one-legged jumping robot with pneumatic muscles
AU - Ishiyama, Yuta
AU - Yamamoto, Yuya
AU - Takanishi, Atsuo
AU - Lim, Hun ok
N1 - Publisher Copyright:
© ICROS.
PY - 2018/12/10
Y1 - 2018/12/10
N2 - This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.
AB - This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.
KW - Flight phase
KW - Jumping robot
KW - Lift-off phase
KW - Mathematical modeling
KW - Pneumatic artificial muscle
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M3 - Conference contribution
AN - SCOPUS:85060454478
T3 - International Conference on Control, Automation and Systems
SP - 225
EP - 230
BT - International Conference on Control, Automation and Systems
PB - IEEE Computer Society
T2 - 18th International Conference on Control, Automation and Systems, ICCAS 2018
Y2 - 17 October 2018 through 20 October 2018
ER -