지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 869 - 874 (6page)
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초록· 키워드
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This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.
목차
Abstract
1. INTRODUCTION
2. HARDWARE AND SOFTWARE OF ONE-LEGGED JUMPING ROBOT
3. JUMPING ROBOT MODEL ANDSIMULATION
4. JUMPING EXPERIMENT
5. CONCLUSION
REFERENCES
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