Development of one-legged jumping robot with artificial musculoskeletal system

Author

Sayama, K. ; Masuta, Hiroyuki ; Hum-ok Lim

Author_Institution

Grad. of Mech. Eng., Kanagawa Univ., Yokohama, Japan

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

608

Lastpage

613

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, and a foot. It weighs 6.5 [kg], and is 594 [mm] tall. It has a total of 9 actuators: 6 mono-articular types and 3 bi-articular types. A pneumatic artificial muscle actuator that can expand radially and contract axially is used. The actuators for mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and the shin for the muscles to antagonize each other. The effectiveness of the mechanism and the control of the robot are verified through motion experiments.

Keywords

electroactive polymer actuators; legged locomotion; pneumatic actuators; artificial musculoskeletal system; bi-articular muscles; bi-articular type actuator; human leg; mass 6.5 kg; mono-articular muscles; mono-articular type actuator; one-legged jumping robot development; pneumatic artificial muscle actuator; size 594 mm; Actuators; Humans; Joints; Legged locomotion; Muscles; Pneumatic systems; One-legged robot; mechanism; muscular and skeletal system; pneumatic actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6463095

Filename

6463095