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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages1132-1136
Number of pages5
ISBN (Electronic)9788993215120
DOIs
Publication statusPublished - 2016 Jan 24
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 2016 Oct 162016 Oct 19

Publication series

NameInternational Conference on Control, Automation and Systems
Volume0
ISSN (Print)1598-7833

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
Country/TerritoryKorea, Republic of
CityGyeongju
Period16/10/1616/10/19

Keywords

  • Humanoid Robots
  • Legged Robot
  • jumping pattern
  • pneumatic muscle
  • skeletal system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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