Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular

Lei Wang; Fei Meng; Huaxin Liu; Xuxiao Fan; Ryuki Sato; Aiguo Ming; Qiang Huang

doi:10.1109/ROBIO.2018.8664808

Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular

Lei Wang
, Fei Meng^*
, Huaxin Liu
, Xuxiao Fan
, Ryuki Sato
, Aiguo Ming
, Qiang Huang

^*此作品的通讯作者

Beijing Institute of Technology
The University of Electro-Communications

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

2 引用（Scopus）

摘要

This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.

源语言	英语
主期刊名	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	287-292
页数	6
ISBN（电子版）	9781728103761
DOI	https://doi.org/10.1109/ROBIO.2018.8664808
出版状态	已出版 - 2 7月 2018
已对外发布	是
活动	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, 马来西亚期限: 12 12月 2018 → 15 12月 2018

丛书

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

会议

会议	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
国家/地区	马来西亚
市	Kuala Lumpur
时期	12/12/18 → 15/12/18

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ROBIO.2018.8664808

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, L., Meng, F., Liu, H., Fan, X., Sato, R., Ming, A., & Huang, Q. (2018). Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (页码 287-292). 期刊论文 8664808 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664808

Wang, Lei ; Meng, Fei ; Liu, Huaxin 等. / Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 287-292 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

@inproceedings{53dfb352bbd04483bcb81c7429414af4,

title = "Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular",

abstract = "This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.",

author = "Lei Wang and Fei Meng and Huaxin Liu and Xuxiao Fan 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.2018.8664808",

language = "English",

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

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

pages = "287--292",

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

address = "United States",

}

Wang, L, Meng, F, Liu, H, Fan, X, Sato, R, Ming, A & Huang, Q 2018, Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8664808, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., 页码 287-292, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, 马来西亚, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8664808

Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular. / Wang, Lei; Meng, Fei; Liu, Huaxin 等.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 287-292 8664808 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular

AU - Wang, Lei

AU - Meng, Fei

AU - Liu, Huaxin

AU - Fan, Xuxiao

AU - Sato, Ryuki

AU - Ming, Aiguo

AU - Huang, Qiang

PY - 2018/7/2

Y1 - 2018/7/2

N2 - This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.

AB - This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.

UR - https://www.scopus.com/pages/publications/85064136967

U2 - 10.1109/ROBIO.2018.8664808

DO - 10.1109/ROBIO.2018.8664808

M3 - Conference contribution

AN - SCOPUS:85064136967

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

SP - 287

EP - 292

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 -

Wang L, Meng F, Liu H, Fan X, Sato R, Ming A 等. Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 287-292. 8664808. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8664808

Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular

摘要

丛书

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此