TY - GEN
T1 - Hopping robot using pelvic movement and leg elasticity
AU - Otani, Takuya
AU - Uryu, Kazuhiro
AU - Yahara, Masaaki
AU - Iizuka, Akihiro
AU - Hamamoto, Shinya
AU - Miyamae, Shunsuke
AU - Hashimoto, Kenji
AU - Destephe, Matthieu
AU - Sakaguchi, Masanori
AU - Kawakami, Yasuo
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
N1 - Funding Information:
This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Institute of Advanced Active Aging Research, Waseda University and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by the MEXT/JSPS KAKENHI Grant No. 25709019; Suzuki Foundation; Grants for Excellent Graduate Schools, MEXT, Japan; SolidWorks Japan K.K.; DYDEN Corporation; and Cybernet Systems Co., Ltd.; we thank all of them for the financial and technical support provided.
Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.
AB - Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.
KW - Hopping
KW - Human motion analysis
KW - Humanoid
UR - http://www.scopus.com/inward/record.url?scp=84927663222&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84927663222&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-07058-2_27
DO - 10.1007/978-3-319-07058-2_27
M3 - Conference contribution
AN - SCOPUS:84927663222
T3 - Mechanisms and Machine Science
SP - 235
EP - 243
BT - Advances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
A2 - Glazunov, Victor A.
A2 - Ceccarelli, Marco
PB - Kluwer Academic Publishers
T2 - 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014
Y2 - 23 June 2014 through 26 June 2014
ER -