Mechanism of one-legged jumping robot with artificial musculoskeletal system

Author

Iijima, Hideki ; Sayama, K. ; Masuta, Hiroyuki ; Takanishi, A. ; Hun-Ok Lim

Author_Institution

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

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

869

Lastpage

874

Abstract

This paper describes the mechanism and vertical jumping pattern 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. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.

Keywords

electroactive polymer actuators; humanoid robots; legged locomotion; pneumatic actuators; robot kinematics; angular momentum; artificial musculoskeletal system; bi-articular muscles; full-scale humanoid robots; linear momentum; mono-articular muscles; mono-articular types; one-legged jumping robot; pneumatic actuator; pneumatic artificial muscles; vertical jumping pattern; Commercialization; Delays; Gallium nitride; Irrigation; Logic gates; Multiaccess communication; Protocols; Artificial muscle; Jumping robot; Muscular and skeletal system; One-legged robot; Pneumatic actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6704036

Filename

6704036