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2017 | OriginalPaper | Buchkapitel

Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism

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

Erschienen in: Intelligent Autonomous Systems 14

Verlag: 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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Vorheriges Kapitel An Underactuated Biped Robot Guided via Elastic Elements: EKF-Based Estimation of Ankle Mechanical Parameters

Nächstes Kapitel A Motion Planning Architecture for Conveyance Tasks with a Quadruped Robot

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Titel: Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism
verfasst von: Xiangxiao Liu
Yu Duan
Andre Rosendo
Shuhei Ikemoto
Koh Hosoda
Verlag: Springer International Publishing
Buch: Intelligent Autonomous Systems 14
Print ISBN: 978-3-319-48035-0

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

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-48036-7_25

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