Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

Zewen He; Fei Meng; Huaxin Liu; Xuxiao Fan; Shengkai Liu; Ryuki Sato; Aiguo Ming; Qiang Huang

doi:10.1109/ROBIO.2018.8665109

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

Zewen He, Fei Meng^*, Huaxin Liu, Xuxiao Fan, Shengkai Liu, Ryuki Sato, Aiguo Ming, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1226-1231
Number of pages	6
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8665109
Publication status	Published - 2 Jul 2018
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

Access to Document

10.1109/ROBIO.2018.8665109

Cite this

He, Z., Meng, F., Liu, H., Fan, X., Liu, S., Sato, R., Ming, A., & Huang, Q. (2018). Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 1226-1231). Article 8665109 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665109

@inproceedings{8211e2a54d7c4226afe99d5a05918600,

title = "Optimization of Standing Long Jump Strategy on a Small Quadruped Robot",

abstract = "The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).",

author = "Zewen He and Fei Meng and Huaxin Liu and Xuxiao Fan and Shengkai Liu and Ryuki Sato and Aiguo Ming and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2018.8665109",

language = "English",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1226--1231",

booktitle = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

address = "United States",

}

He, Z, Meng, F, Liu, H, Fan, X, Liu, S, Sato, R, Ming, A & Huang, Q 2018, Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665109, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1226-1231, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665109

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. / He, Zewen; Meng, Fei; Liu, Huaxin et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1226-1231 8665109 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

AU - He, Zewen

AU - Meng, Fei

AU - Liu, Huaxin

AU - Fan, Xuxiao

AU - Liu, Shengkai

AU - Sato, Ryuki

AU - Ming, Aiguo

AU - Huang, Qiang

PY - 2018/7/2

Y1 - 2018/7/2

N2 - The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

AB - The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

UR - http://www.scopus.com/inward/record.url?scp=85064130706&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2018.8665109

DO - 10.1109/ROBIO.2018.8665109

M3 - Conference contribution

AN - SCOPUS:85064130706

T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

SP - 1226

EP - 1231

BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Y2 - 12 December 2018 through 15 December 2018

ER -

He Z, Meng F, Liu H, Fan X, Liu S, Sato R et al. Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1226-1231. 8665109. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8665109

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this