Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle
Abstract The McKibben pneumatic actuator (MPA) is a soft actuator used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there is a trade-off between torque generated by MPA and the range of motion of the joint. In this st...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2023-04-01
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| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-023-00250-2 |
| _version_ | 1797850004956643328 |
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| author | Taichi Okumura Daisuke Nakanishi Keisuke Naniwa Yasuhiro Sugimoto Koichi Osuka |
| author_facet | Taichi Okumura Daisuke Nakanishi Keisuke Naniwa Yasuhiro Sugimoto Koichi Osuka |
| author_sort | Taichi Okumura |
| collection | DOAJ |
| description | Abstract The McKibben pneumatic actuator (MPA) is a soft actuator used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there is a trade-off between torque generated by MPA and the range of motion of the joint. In this study, we focus on the jumping motion of a leg-type robot and use an elliptical pulley whose moment arm changes depending on the robot’s posture. To confirm the effectiveness of the elliptical pulley, the relationship between the knee joint pulley (patella) shape and jumping height was analyzed by simulation, and the shape of the patella maximizing jumping height was determined. It was shown that an elongated elliptical patella shape is more effective for the jumping motion than a circular one. Furthermore, the effectiveness of the analytically determined patella shape was confirmed by experiments using an actual robot. |
| first_indexed | 2024-04-09T18:54:25Z |
| format | Article |
| id | doaj.art-f3cabe20b09142a09aa4526454231477 |
| institution | Directory Open Access Journal |
| issn | 2197-4225 |
| language | English |
| last_indexed | 2024-04-09T18:54:25Z |
| publishDate | 2023-04-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | ROBOMECH Journal |
| spelling | doaj.art-f3cabe20b09142a09aa45264542314772023-04-09T11:19:51ZengSpringerOpenROBOMECH Journal2197-42252023-04-0110111210.1186/s40648-023-00250-2Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscleTaichi Okumura0Daisuke Nakanishi1Keisuke Naniwa2Yasuhiro Sugimoto3Koichi Osuka4Department of Mechanical Engineering, University of OsakaDepartment of Control Engineering, National Institute of Technology, Matsue CollegeDepartment of Mechanical Engineering, University of OsakaDepartment of Mechanical Engineering, University of OsakaDepartment of Mechanical Engineering, University of OsakaAbstract The McKibben pneumatic actuator (MPA) is a soft actuator used for performing various practical functions in robots. Particularly, many dynamic robots have been realized using MPAs. However, there is a trade-off between torque generated by MPA and the range of motion of the joint. In this study, we focus on the jumping motion of a leg-type robot and use an elliptical pulley whose moment arm changes depending on the robot’s posture. To confirm the effectiveness of the elliptical pulley, the relationship between the knee joint pulley (patella) shape and jumping height was analyzed by simulation, and the shape of the patella maximizing jumping height was determined. It was shown that an elongated elliptical patella shape is more effective for the jumping motion than a circular one. Furthermore, the effectiveness of the analytically determined patella shape was confirmed by experiments using an actual robot.https://doi.org/10.1186/s40648-023-00250-2McKibben pneumatic muscleLeg-type robotJumpingKnee jointMechanical design |
| spellingShingle | Taichi Okumura Daisuke Nakanishi Keisuke Naniwa Yasuhiro Sugimoto Koichi Osuka Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle ROBOMECH Journal McKibben pneumatic muscle Leg-type robot Jumping Knee joint Mechanical design |
| title | Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle |
| title_full | Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle |
| title_fullStr | Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle |
| title_full_unstemmed | Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle |
| title_short | Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle |
| title_sort | relationship between the shape of the elliptical knee joint and jumping height in a leg type robot driven by pneumatic artificial muscle |
| topic | McKibben pneumatic muscle Leg-type robot Jumping Knee joint Mechanical design |
| url | https://doi.org/10.1186/s40648-023-00250-2 |
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