Bouncing monopod with bio-mimetic muscular-skeleton system

Author

Hosoda, Koh ; Takayama, Hitoshi ; Takuma, Takashi

Author_Institution

Dept. of Adaptive Machine Syst., Osaka Univ., Suita

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

3083

Lastpage

3088

Abstract

Structure of a humanpsilas muscular-skeleton system is supposed to play an essential role for realizing dynamic locomotion such as jumping and running. This paper investigates the effectiveness of the human-like morphology for dynamic bouncing. We designed a monopod that had a bio-mimetic muscular-skeleton system utilizing pneumatic artificial muscles. Through the experiments, we confirmed that the biarticular muscles strongly governed the coordinated movement of its body. Utilizing such synergy brought by the muscles, a simple controller could realize stable bouncing even though the pneumatic artificial muscles have complicated characteristics.

Keywords

artificial organs; biomimetics; bone; medical control systems; mobile robots; motion control; muscle; pneumatic actuators; biarticular muscle; biomimetic muscular-skeleton system; bouncing monopod; dynamic bouncing; human-like morphology; pneumatic artificial muscle; stable bouncing; Joints; Muscles; Robot kinematics; Robot sensing systems; Robots; Sensors; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4650801

Filename

4650801