Sequential Jumping-Stepping Motion on Musculoskeletal Humanoid Robot for Agile Locomotion

Dwindra Sulistyoutomo, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

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

Abstract

Combination of various dynamic motions may lead to better performance of dynamic motion tasks by utilizing the energy transfer between the motions. We have developed a robot capable of doing sequential jumping-stepping motion for agile locomotion. The robot is a musculoskeletal humanoid robot that mimics human skeletal system and muscular system with pneumatic artificial muscles as the actuators. For realizing the motion, we decide muscle control command for each motion referring to the muscle activation pattern of a human. We have conducted experiments for the sequential jumping-stepping motion with our motion strategy on the developed musculoskeletal robot. The results show that the musculoskeletal robot performs faster stepping by performing pre-jumping before a stepping than stepping without pre-jumping. We have also found that proper timing of landing command became crucial for the stepping motion performance.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2328-2333
Number of pages6
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - Jul 2 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: Dec 12 2018Dec 15 2018

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period12/12/1812/15/18

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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