TY - GEN
T1 - Humanoid robot performing jump-And-hit motions using structure-integrated pneumatic cable cylinders
AU - Tanaka, Kazutoshi
AU - Nishikawa, Satoshi
AU - Niiyama, Ryuma
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/22
Y1 - 2017/12/22
N2 - In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-And-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-And-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force-torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force-torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-And-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.
AB - In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-And-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-And-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force-torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force-torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-And-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.
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U2 - 10.1109/HUMANOIDS.2017.8246948
DO - 10.1109/HUMANOIDS.2017.8246948
M3 - Conference contribution
AN - SCOPUS:85044444524
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 696
EP - 702
BT - 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PB - IEEE Computer Society
T2 - 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Y2 - 15 November 2017 through 17 November 2017
ER -