'Kenken'. A Biologically Inspired One-Legged Running Robot.

• Hyon Sang-Ho

  Tokyo Institute of Technology

• Kamjio Satoshi

  Tokyo Institute of Technology

• Mita Tsutomu

  Tokyo Institute of Technology

Bibliographic Information

Other Title

• 動物の脚構造をモデル化した１脚走行ロボット　　Ｋｅｎｋｅｎ
• ドウブツ ノ キャク コウゾウ オ モデルカ シタ 1キャク ソウコウ ロボット Kenken

Abstract

As many biomechanists indicate, tendon plays important role for running or jumping motion. It stores the kinetic energy as a potential energy during stance and also absorbs the impulse at touch down. Inspired by such biomechanical studies, we propose a new simple mechanical model for hindlimb of a dog to realize a robot which imitates dog running, and the hardware design of one-legged running robot, “Kenken” The robot has an articulated leg and uses two hydraulic actuators as muscles and a tensile spring as a tendon. Using an empirical controller based on the characteristic dynamics of the model, the robot has succeeded in planar one-legged running. Although the problem related to the stability at the higher running speed remains, the experimental results demonstrate that the proposed leg mechanism is effective for robotic running.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 20 (4), 453-462, 2002

  The Robotics Society of Japan

Keywords

• Running Robot
• Legged Locomotion
• Biomechanics
• Tendon
• Hydraulic Servo

Details

• CRID: 1390001204725280128
• NII Article ID: 10009988351
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.20.453
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• NDL BIB ID: 6165577
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6165577
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed