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Clustering Latent Sensor Distribution on Body Map for Generating Body Schema Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism

Authors : Xiangxiao Liu, Yu Duan, Andre Rosendo, Shuhei Ikemoto, Koh Hosoda

Published in: Intelligent Autonomous Systems 14

Publisher: Springer International Publishing

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Abstract

The complex of human foot plays an important role in the locomotion. Properly replicating the human foot characteristics on the humanoid robot foot design is supposed to improve the robot locomotion performance. In this research, we proposed three kinds of foot design, stiff foot, the windlass mechanism foot (with stiff plantar fascia) and the windlass mechanism foot (with elastic plantar fascia). Using a musculoskeletal biped robot and via a large set of dropping jump experiments, we confirmed that (1) the robot could achieve toe-off motion in the lifting off phase of jumping and (2) the windlass mechanism could increase the jumping height. This investigation on robot foot is expected to both improve the humanoid robot jumping performance and help us understanding how human achieve high performance locomotion.

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previous chapter An Underactuated Biped Robot Guided via Elastic Elements: EKF-Based Estimation of Ankle Mechanical Parameters
next chapter A Motion Planning Architecture for Conveyance Tasks with a Quadruped Robot
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Metadata
Title
Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism
Authors
Xiangxiao Liu
Yu Duan
Andre Rosendo
Shuhei Ikemoto
Koh Hosoda
Copyright Year
2017
Book
Intelligent Autonomous Systems 14

Print ISBN: 978-3-319-48035-0

Electronic ISBN: 978-3-319-48036-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-48036-7_25

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