具有人工肌肉骨骼系统的单腿跳跃机器人的机理

2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-12-01 DOI:10.1109/ICCAS.2013.6704036

Hideki Iijima, Keisuke Sayama, H. Masuta, A. Takanishi, Hun-ok Lim

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引用次数: 10

摘要

本文描述了一种模仿人腿肌肉和骨骼系统的单腿跳跃机器人的机理和垂直跳跃模式。这个跳跃机器人有腰部、大腿、小腿、脚和脚趾。重量12.34 kg，高1010mm。它共有13个执行器:10个单关节型和3个双关节型。在大腿和胫骨的后方和前方分别安装单关节和双关节两种气动人工肌肉，相互对抗。对于垂直跳跃，基于线动量和角动量建立了关节角度模式。通过仿真和实验验证了机构的有效性和机器人的跳跃模式。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mechanism of one-legged jumping robot with artificial musculoskeletal system

This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.

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来源期刊

2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)

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