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Jumping Motion Control of One-legged Jumping Robot with Pneumatic Muscles
Yuta ISHIYAMA,Yuya YAMAMOTO,Atsuo TAKANISHI,Hun-ok Lim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper describes the dynamic analysis of the vertical jumping motion of a one-legged jumping robot that consists of a hip, a thigh, a shin, and a foot. The jumping robot has two kinds of pneumatic artificial muscles, the mono-articular muscle and the bi-articular muscle. The jumping robot is difficult to obtain the output force of each artificial muscle because each joint force is produced by the plural pneumatic artificial muscles. When the robot jumps, the forces can be projected to the waist. Thus, we developed a method that can calculate the magnitude and direction of the resultant of the forces, and convert the resultant force to the output force of the pneumatic muscles. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.
Shunsuke Kumagai,Koki Matsumoto,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression mechanism is installed in the pitch axis of the elbow and the yaw axis of the waist. The base consists of four omnidirectional wheels, enabling movement in any direction. Moreover, the control method for the base is discussed in this study. Using the robot, collision experiments are conducted and the effectiveness of the robot mechanism and the control method is verified.
New Collision Force Suppression Mechanism and Base Control of Human-Friendly Robot
Naoto Tanaka,Takayuki Iwama,Shunsuke Kumagai,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, and four compression springs. Also, a base control method to secure human safety is discussed. Through collision experiments, the effectiveness of the collision force suppression mechanism and control method is verified.
Mechanism and Jumping Pattern of One-Legged Jumping Robot with Pneumatic Actuators
Yuya Yamamoto,Haruyoshi Nishi,Yusuke Torii,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
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.
Jumping Pattern Generation for One-Legged Jumping Robot
Akira UMEHARA,Yuya YAMAMOTO,Haruyoshi NISHI,Atsuo TAKANISHI,Hun-ok LIM 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot’s height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.
Mechanism of One-Legged Jumping Robot With Artificial Musculoskeletal System
Hideki Iijima,Keisuke Sayama,Hiroyuki Masuta,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
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.