TY - GEN
T1 - Sequential Jumping-Stepping Motion on Musculoskeletal Humanoid Robot for Agile Locomotion
AU - Sulistyoutomo, Dwindra
AU - Nishikawa, Satoshi
AU - Niiyama, Ryuma
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85064127428&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85064127428&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8664787
DO - 10.1109/ROBIO.2018.8664787
M3 - Conference contribution
AN - SCOPUS:85064127428
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 2328
EP - 2333
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -