Effective timing of swing-up motion by a pole-vaulting robot

Satoshi Nishikawa, Toshihiko Fukushima, Yasuo Kuniyoshi

研究成果: 会議への寄与タイプ学会誌査読

3 被引用数 (Scopus)

抄録

Elasticity has been used in many dynamic robots because it can regenerate energy or absorb collision shock. However, the role of elasticity has remained only supplementary. Its potential usefulness in dynamic motion is largely unquantified. Therefore, we specifically examine a task with an extremely large elastic element: pole vaulting. In pole-vaulting research, active operations by an agent are known to improve vaulting performance. Previously, we investigated an active bending effect while hanging from a pole in a simulation. These active operations are generated from the body motion. In this study, we specifically examine the effect of inertial force resulting from motion of the body. We hypothesize that swing-up motion performed closer to the pole planting point (i.e. later in timing) improves vaulting performance. We developed a robot that can exert a large inertial force, and conducted pole-vaulting experiments to verify the hypothesis. Results showed that energy loss is less when swing-up motion occurs later. Our results support the hypothesis and indicate that the timing of swing-up motion is an important factor contributing to vaulting performance.

本文言語英語
DOI
出版ステータス出版済み - 2013
外部発表はい
イベント2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, ウルグアイ
継続期間: 11月 25 201311月 29 2013

会議

会議2013 16th International Conference on Advanced Robotics, ICAR 2013
国/地域ウルグアイ
CityMontevideo
Period11/25/1311/29/13

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • 人間とコンピュータの相互作用
  • ソフトウェア

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