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Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

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ROMANSY 21 - Robot Design, Dynamics and Control (ROMANSY21 2016)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

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Abstract

Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.

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Acknowledgements

This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Institute of Advanced Active Aging Research, Waseda University; Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by the JSPS KAKENHI Grant No. 25709019; Mizuho Foundation for the Promotion of Sciences; SolidWorks Japan K.K.; TohoTenax Co., Ltd.; and DYDEN Corporation; we thank all of them for the financial and technical support provided. Further, the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.)

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Authors and Affiliations

  1. Graduate School of Science and Engineering, Waseda University, Tokyo, Japan

    Takuya Otani, Takaya Isomichi & Shunsuke Miyamae

  2. Japan Society for the Promotion of Science, Tokyo, Japan

    Takuya Otani

  3. Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan

    Kenji Hashimoto

  4. Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan

    Kenji Hashimoto, Hun-ok Lim & Atsuo Takanishi

  5. Faculty of Sport Sciences, Waseda University, Tokyo, Japan

    Masanori Sakaguchi & Yasuo Kawakami

  6. Faculty of Kinesiology, University of Calgary, Calgary, Canada

    Masanori Sakaguchi

  7. Faculty of Engineering, Kanagawa University, Yokohama, Japan

    Hun-ok Lim

  8. Faculty of Science and Engineering, Waseda University, Tokyo, Japan

    Atsuo Takanishi

Authors
  1. Takuya Otani
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  2. Kenji Hashimoto
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  3. Takaya Isomichi
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  4. Shunsuke Miyamae
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  5. Masanori Sakaguchi
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  6. Yasuo Kawakami
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  7. Hun-ok Lim
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  8. Atsuo Takanishi
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Corresponding author

Correspondence to Takuya Otani .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Otani, T. et al. (2016). Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_27

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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