Mechanism of one-legged jumping robot with artificial musculoskeletal system

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

doi:10.1109/ICCAS.2013.6704036

Mechanism of one-legged jumping robot with artificial musculoskeletal system

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages	869-874
Number of pages	6
DOIs	https://doi.org/10.1109/ICCAS.2013.6704036
Publication status	Published - 2013 Dec 1
Externally published	Yes
Event	2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of Duration: 2013 Oct 20 → 2013 Oct 23

Publication series

Name	International Conference on Control, Automation and Systems
ISSN (Print)	1598-7833

Conference

Conference	2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Country/Territory	Korea, Republic of
City	Gwangju
Period	13/10/20 → 13/10/23

Keywords

Artificial muscle
Jumping robot
Muscular and skeletal system
One-legged robot
Pneumatic actuator

ASJC Scopus subject areas

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

Access to Document

10.1109/ICCAS.2013.6704036

Cite this

Iijima, H., Sayama, K., Masuta, H., Takanishi, A., & Lim, H. O. (2013). Mechanism of one-legged jumping robot with artificial musculoskeletal system. In ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems (pp. 869-874). Article 6704036 (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2013.6704036

Mechanism of one-legged jumping robot with artificial musculoskeletal system. / Iijima, Hideki; Sayama, Keisuke; Masuta, Hiroyuki et al.
ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems. 2013. p. 869-874 6704036 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Iijima, H, Sayama, K, Masuta, H, Takanishi, A & Lim, HO 2013, Mechanism of one-legged jumping robot with artificial musculoskeletal system. in ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems., 6704036, International Conference on Control, Automation and Systems, pp. 869-874, 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013, Gwangju, Korea, Republic of, 13/10/20. https://doi.org/10.1109/ICCAS.2013.6704036

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abstract = "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.",

keywords = "Artificial muscle, Jumping robot, Muscular and skeletal system, One-legged robot, Pneumatic actuator",

author = "Hideki Iijima and Keisuke Sayama and Hiroyuki Masuta and Atsuo Takanishi and Lim, {Hun Ok}",

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N2 - 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.

AB - 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.

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Mechanism of one-legged jumping robot with artificial musculoskeletal system

Abstract

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Keywords

ASJC Scopus subject areas

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