2A1-K05 Development of a jumping robot with pneumatic artificial muscles and MR brake(Biorobotics)

Abstract

Bipedal robots have been developed that are capable of various motions such as walking, running and jumping. In particular, dynamic motion including running and jumping requires high power in a short time. Humans generate the instantaneous force by the elastic element and control it by the viscous element in the muscles. Therefore we develop a leg robot for jumping that relies on these elements. This robot uses a straight-fiber-type artificial muscle and a magnetorheological (MR) brake. In this study, we produced one-leg robot, calculated the jumping height and conducted the jumping experiment to evaluate the simulation. As a result the robot jumped when the mass of the robot was 1.5 kg, 1.0 kg and 0.5 kg. The jumping height was 33.9 mm, 54.2 mm and 82.5 mm. The simulation result was 36.9 mm, 59.0 mm and 94.6 mm.

Landing method for a one-legged robot with artificial muscles and an MR brake

“…We previously developed a onelegged robot using straight-fiber-type artificial muscles and an MR brake, and jumping experiments were conducted using a method for the generation of instantaneous force [9]. The robot jumped 82.5 mm using a sliding rail and counter weights, and experimental and simulation results were in good agreement [10]. However, the robot shook up and down upon landing because of the elastic element of its artificial muscles.…”