TY - GEN
T1 - Robotic Ankle Mechanism Capable of Kicking while Jumping and Running and Adaptable to Change in Running Speed
AU - Mineshita, H.
AU - Otani, T.
AU - Hashimoto, K.
AU - Sakaguchi, M.
AU - Kawakami, Y.
AU - Lim, H. O.
AU - Takanishi, A.
N1 - Funding Information:
*Research was conducted with the support of Research Institute for Science and Engineering, Waseda University; Humanoid Robotics Institute, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University. It was also financially supported in part by NSK Foundation for the Advancement of Mechatronics and the JSPS KAKENHI Grant No. 17H00767. Further, 3DCAD software SolidWorks was provided by SolidWorks Japan K.K.; the force sensors received cooperation from Tec Gihan Co., Ltd.; cables and connectors were provided by DYDEN CORPORATION; the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.) We would also like to thank Editage (www.editage.jp) for English language editing.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
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U2 - 10.1109/Humanoids43949.2019.9035057
DO - 10.1109/Humanoids43949.2019.9035057
M3 - Conference contribution
AN - SCOPUS:85082679720
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 505
EP - 510
BT - 2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
PB - IEEE Computer Society
T2 - 19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
Y2 - 15 October 2019 through 17 October 2019
ER -