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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.