DocumentCode
2438771
Title
Jumping patterns analysis for 1-DOF two-legged robot
Author
Senoo, Taku ; Tanno, Yuichi ; Ishikawa, Masatoshi
Author_Institution
Dept. of Creative Inf., Univ. of Tokyo, Tokyo, Japan
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
603
Lastpage
608
Abstract
In this paper, a jumping motion is considered with the goal of achieving high-speed dynamic motion for legged robots. We propose a two-step jumping pattern which makes use of the characteristic of a lightweight and fast actuator. In addition, jumping strategies based on the dynamics of the robots are presented, and the effect of structural parameter on jumping height is analyzed. Experimental results are shown in which a 1-DOF two-legged robot jumps with three patterns.
Keywords
legged locomotion; robot dynamics; 1-DOF two-legged robot; actuator; high-speed dynamic motion; jumping motion; robot dynamics; two-step jumping pattern; Dynamics; Force; Leg; Legged locomotion; Robot kinematics; Torque; jumping pattern; legged robot; two-step jumping;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707886
Filename
5707886
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