A musculoskeletal bipedal robot designed with angle-dependent moment arm for dynamic motion from multiple states

Satoshi Nishikawa, Kazutoshi Tanaka, Kazuya Shida, Toshihiko Fukushima, Ryuma Niiyama, Yasuo Kuniyoshi

研究成果: Contribution to journalArticle査読

10 被引用数 (Scopus)

抄録

When robots make smooth transitions in dynamic motions, they must exert large force over widely various postures. To expand the range of postures that robots can take during dynamic motions, we propose that robots be designed with an Angle-Dependent Moment Arm (ADMA) with biased pivot, for which torque characteristics of actuators attached to joints are adjustable. From jumping simulations of robotic legs designed with ADMA, we demonstrate that ADMA improves robustness to postural and motion timing changes by shifts of the optimal posture, which are also observed in jumping experiments using a full-sized, bipedal robot.

本文言語英語
ページ(範囲)487-496
ページ数10
ジャーナルAdvanced Robotics
28
7
DOI
出版ステータス出版済み - 4 3 2014
外部発表はい

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

フィンガープリント

「A musculoskeletal bipedal robot designed with angle-dependent moment arm for dynamic motion from multiple states」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル