Biomechanical approach to open-loop bipedal running with a musculoskeletal athlete robot

Ryuma Niiyama, Satoshi Nishikawa, Yasuo Kuniyoshi

研究成果: ジャーナルへの寄稿学術誌査読

47 被引用数 (Scopus)

抄録

In this study, a musculoskeletal robot is used as a tool to investigate how animals control their complex body. Sprinting is a challenging task that requires maximizing the potential resources of a musculoskeletal structure. Our approach to robotic sprinting is the Athlete Robot - a musculoskeletal robot with elastic blade feet controlled by feedforward motor command. We use a catapult launcher to provide a stable start to a sprint, and then examine the relation between the initial velocity imparted by the launcher and the change in orientation of the robot. We also investigate the influence of the change in elasticity of the blade foot. The results show that acceleration causes anterior inclination after the first step. The elasticity of the foot dominates the duration of the support phase. The musculoskeletal system of the Athlete Robot is modified to suit catapulted running. Based on the results from real robot experiments, we can provide a consistent propelling force using the catapult launcher. We demonstrate the Athlete Robot running for five steps after a catapult launch, using only feedforward command.

本文言語英語
ページ(範囲)383-398
ページ数16
ジャーナルAdvanced Robotics
26
3-4
DOI
出版ステータス出版済み - 2012
外部発表はい

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • 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

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