Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism
Higher Jumping of a Biped Musculoskeletal Robot with Foot Windlass Mechanism
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DOI：
10.1007/978-3-319-48036-7_25
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发表时间：
2016-07
期刊：
影响因子：
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通讯作者：
Xiangxiao Liu;Yu Duan;A. Rosendo;Shuhei Ikemoto;K. Hosoda
中科院分区：
文献类型：
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作者：
Xiangxiao Liu;Yu Duan;A. Rosendo;Shuhei Ikemoto;K. Hosoda
人足复合体在人体运动中起着重要的作用。在仿人机器人足的设计中，合理地复制人足的特征，可以提高机器人的运动性能。在本研究中，我们提出了三种不同的足部设计，分别是刚性足部、绞盘机构足部（带有刚性足底筋膜）和绞盘机构足部（带有弹性足底筋膜）。利用肌肉骨骼型仿人机器人，通过大量的落跳实验，证实了（1）机器人在起跳阶段能够实现脚尖离地运动;（2）绞盘机构能够提高跳跃高度。对机器人足的研究不仅有助于提高仿人机器人的跳跃性能，而且有助于我们理解人类是如何实现高性能运动的。
The complex of human foot plays an important role in the locomotion. Properly replicating the human foot characteristics on the humanoid robot foot design is supposed to improve the robot locomotion performance. In this research, we proposed three kinds of foot design, stiff foot, the windlass mechanism foot (with stiff plantar fascia) and the windlass mechanism foot (with elastic plantar fascia). Using a musculoskeletal biped robot and via a large set of dropping jump experiments, we confirmed that (1) the robot could achieve toe-off motion in the lifting off phase of jumping and (2) the windlass mechanism could increase the jumping height. This investigation on robot foot is expected to both improve the humanoid robot jumping performance and help us understanding how human achieve high performance locomotion.