Humanoid robot performing jump-And-hit motions using structure-integrated pneumatic cable cylinders

Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-And-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-And-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force-torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force-torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-And-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.

Original languageEnglish
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PublisherIEEE Computer Society
Pages696-702
Number of pages7
ISBN (Electronic)9781538646786
DOIs
Publication statusPublished - Dec 22 2017
Externally publishedYes
Event17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 - Birmingham, United Kingdom
Duration: Nov 15 2017Nov 17 2017

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
CountryUnited Kingdom
CityBirmingham
Period11/15/1711/17/17

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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