TY - JOUR
T1 - A musculoskeletal bipedal robot designed with angle-dependent moment arm for dynamic motion from multiple states
AU - Nishikawa, Satoshi
AU - Tanaka, Kazutoshi
AU - Shida, Kazuya
AU - Fukushima, Toshihiko
AU - Niiyama, Ryuma
AU - Kuniyoshi, Yasuo
N1 - Funding Information:
This work has been supported by MEXT/JSPS KAKENHI [grant number 22240015], [grant number 24119002].
PY - 2014/4/3
Y1 - 2014/4/3
N2 - 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.
AB - 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.
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U2 - 10.1080/01691864.2013.876936
DO - 10.1080/01691864.2013.876936
M3 - Article
AN - SCOPUS:84897642917
SN - 0169-1864
VL - 28
SP - 487
EP - 496
JO - Advanced Robotics
JF - Advanced Robotics
IS - 7
ER -