@inbook{0a9d51696b1b4a259e9df0dc019631fd,
title = "Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human",
abstract = "Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.",
keywords = "Carbon Fiber Reinforce Plastic, Humanoid Robot, Joint Stiffness, Joint Torque, Stance Phase",
author = "Takuya Otani and Kenji Hashimoto and Takaya Isomichi and Shunsuke Miyamae and Masanori Sakaguchi and Yasuo Kawakami and Lim, {Hun ok} and Atsuo Takanishi",
note = "Funding Information: Acknowledgements 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; Future Robotics Organization, 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 JSPS KAKENHI Grant No. 25709019; Mizuho Foundation for the Promotion of Sciences; SolidWorks Japan K.K.; TohoTenax Co., Ltd.; and DYDEN Corporation; we thank all of them for the financial and technical support provided. Further, the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.) Publisher Copyright: {\textcopyright} 2016, CISM International Centre for Mechanical Sciences.",
year = "2016",
doi = "10.1007/978-3-319-33714-2_27",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "243--250",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}