학술논문
Jumping Pattern Generation for One-Legged Jumping Robot
Document Type
Conference
Source
제어로봇시스템학회 국제학술대회 논문집. 2017-10 2017(10):1396-1400
Subject
Language
Korean
ISSN
2005-4750
Abstract
This paper describes a one-legged robot capable of jumping that consists of a waist, thigh, a shin, and foot. The jumping robot’s height is 1200 [mm], and its weight is 90 [kg]. Two kinds of pneumatic artificial muscle, the mono-articular muscle and the bi-articular muscle are installed. Also, the jumping pattern that is composed of an air-supplying and an air-exhausting pattern of the pneumatic actuator is discussed. The jumping pattern is generated offline taking into account actuator dynamics. A jumping experiment was conducted, and the effectiveness of the mechanism and jumping pattern was verified.