Abstract
Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because leg’s joints behave like a torsion spring. In addition, the pelvic movement in the frontal plane contributes to the increase in jumping force. We therefore assumed that human-like running, which requires higher output power than that of existing humanoid robots, could be realized based on these characteristics. Hence, we developed a model composed of a body mass, a pelvis and a rotational joint leg, and fabricated the leg by incorporating a stiffness adjustment mechanism that uses two leaf springs. In this way, we were able to achieve a human-like joint stiffness, which could be adjusted by varying the effective length of one of the leaf springs. We achieved hopping by resonance of the pelvic movement and joints’ elasticity.
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Acknowledgements
This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Institute of Advanced Active Aging Research, Waseda University and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by the MEXT/JSPS KAKENHI Grant No. 25709019; Suzuki Foundation; Grants for Excellent Graduate Schools, MEXT, Japan; SolidWorks Japan K.K.; DYDEN Corporation; and Cybernet Systems Co., Ltd.; we thank all of them for the financial and technical support provided.
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Otani, T. et al. (2014). Hopping Robot Using Pelvic Movement and Leg Elasticity. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_27
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DOI: https://doi.org/10.1007/978-3-319-07058-2_27
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