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

Dwindra Sulistyoutomo, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2328-2333
ページ数6
ISBN(電子版)9781728103761
DOI
出版ステータス出版済み - 7月 2 2018
外部発表はい
イベント2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, マレーシア
継続期間: 12月 12 201812月 15 2018

出版物シリーズ

名前2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

会議

会議2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
国/地域マレーシア
CityKuala Lumpur
Period12/12/1812/15/18

!!!All Science Journal Classification (ASJC) codes

  • バイオテクノロジー
  • 人工知能
  • 人間とコンピュータの相互作用

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