@inproceedings{fba6ad64be7c44098a2413662a9e0c58,
title = "Development of Prototype Electric-driven 2-DoF Monopod Robot for Hopping Motion",
abstract = "The purpose of this study is to develop a one-legged hopping robot MH-1, which is the smallest configuration of a legged robot, with the long-term goal of developing a multi-legged robot capable of jumping and running. In this study, we aim to make MH-1 realize hopping while MH-1 is constrained so that it could only move in the vertical direction. The leg is a 2-DoF serial link mechanism with pitch axes at the hip and knee joints. Based on the simulation and experimental results of the prototype called MH-1P, the actuators and reduction gears were selected. We then designed and fabricated an electrically driven 2-DoF monopod robot (height: 510 mm, mass: 6.9 kg) that can withstand the impact of hopping and landing. As a result of the experiment on the actual robot, it was confirmed that MH-1 realized hopping based on the floor reaction force obtained from the force plate during hopping.",
keywords = "hopping, monopod robot",
author = "Asahi Anzai and Toshihide Doi and Kazuki Hashida and Xuechao Chen and Lianqiang Han and Kenji Hashimoto",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 ; Conference date: 08-08-2021 Through 11-08-2021",
year = "2021",
month = aug,
day = "8",
doi = "10.1109/ICMA52036.2021.9512643",
language = "English",
series = "2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1182--1187",
booktitle = "2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021",
address = "United States",
}