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

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

doi:10.1109/ICCAS.2016.7832454

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

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

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
出版社	IEEE Computer Society
ページ	1132-1136
ページ数	5
ISBN（電子版）	9788993215120
DOI	https://doi.org/10.1109/ICCAS.2016.7832454
出版ステータス	Published - 2017 1月 24
イベント	16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of 継続期間: 2016 10月 16 → 2016 10月 19

Other

Other	16th International Conference on Control, Automation and Systems, ICCAS 2016
国/地域	Korea, Republic of
City	Gyeongju
Period	16/10/16 → 16/10/19

ASJC Scopus subject areas

人工知能
コンピュータサイエンスの応用
制御およびシステム工学
電子工学および電気工学

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10.1109/ICCAS.2016.7832454

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引用スタイル

Yamamoto, Y, Nishi, H, Torii, Y, Takanishi, A & Lim, HO 2017, Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832454, IEEE Computer Society, pp. 1132-1136, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832454

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title = "Mechanism and jumping pattern of one-legged jumping robot with pneumatic actuators",

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.",

keywords = "Humanoid Robots, jumping pattern, Legged Robot, pneumatic muscle, skeletal system",

author = "Yuya Yamamoto and Haruyoshi Nishi and Yusuke Torii and Atsuo Takanishi and Lim, {Hun Ok}",

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PY - 2017/1/24

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

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ASJC Scopus subject areas

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