Jumping Patterns Analysis for 1-DOF Two-legged Robot

被引：0

作者：

Senoo, Taku ^{[1
]}

Tanno, Yuichi ^{[1
]}

Ishikawa, Masatoshi ^{[1
]}

机构：

[1] Univ Tokyo, Dept Creat Informat, Grad Sch Informat Sci & Technol, Bunkyo Ku, Tokyo 1138656, Japan

来源：

11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010) | 2010年

关键词：

legged robot; jumping pattern; two-step jumping;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a jumping motion is considered with the goal of achieving high-speed dynamic motion for legged robots. We propose a two-step jumping pattern which makes use of the characteristic of a lightweight and fast actuator. In addition, jumping strategies based on the dynamics of the robots are presented, and the effect of structural parameter on jumping height is analyzed. Experimental results are shown in which a 1-DOF two-legged robot jumps with three patterns.

引用

页码：603 / 608

页数：6