The International Conference on Robotics and Automation, pp.3707 - 3714
Type
Conference Paper
Abstract
It is necessary for a robotic leg to behave like a spring to realize a periodic hopping, since it can be efficient and does not require complicated control algorithm. However, the impact force makes the realization of periodic hopping more challenging. In this letter, an optimal landing strategy for a hopping leg is proposed, which can realize continuous hopping motion only by natural dynamics. The proposed strategy can reduce the foot landing velocity to zero and thus minimize the impact force. The formulation to derive the optimal condition is derived theoretically based on two-mass leg model, and its effectiveness is verified through various simulations and experiments using a series elastic actuator-driven robot leg.
Research Interests
Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용