NDLI: Motion having a Flight Phase: Experiments Involving a One-legged Robot

Content Provider	IEEE Xplore Digital Library
Author	Tajima, R. Suga, K.
Copyright Year	2006
Description	Author affiliation: Toyota Central R&D Labs, Inc., Aichi (Tajima, R.)
Abstract	In the present paper, we introduce a new method by which to generate motions having flight phases such as jumping or running. Such motions are expected to expand the speed and stability of legged robots. Motions with flight phases are examined with respect to jumping, stability and implementation. A novel method of determining the center of mass (COM) and foot locations is proposed that is independent of the target robot actuators or assignments of joints. Moreover, the proposed method allows an on-line system to be built easily and is useful for actual robots. A one-legged jumping robot having a toe joint is built in order to demonstrate the feasibility of this method. Using the toe joint of the robot, the proposed method can reduce the angular velocities of the joints remarkably. Experiments are conducted to investigate the control of the direction, velocity and turning of the robot
Starting Page	1726
Ending Page	1731
File Size	959884
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282132
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Legged locomotion Stability Orbital robotics Foot Actuators Intelligent robots Humanoid robots Leg Joints
Content Type	Text
Resource Type	Article

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