Simulation study on stabilization of a spring-loaded robotic leg using state feedback

Yunha Kim; Sehoon Oh; Yoichi Hori

doi:10.1109/ISR.2013.6695666

Simulation study on stabilization of a spring-loaded robotic leg using state feedback

Yunha Kim, Sehoon Oh, Yoichi Hori

Department of Robotics and Mechatronics Engineering

The University of Tokyo

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

Abstract

This paper presents a novel type jumping robot using bi-articular spring and a mono-articular electric motor, JUMPBiE. The system design is based on the concept of the mono-bi configuration which can effectively reduce the number of actuators and thus cost, retaining the characteristics of bi-articular actuators such as high compliance, stabilization, accuracy, and homogeneity of motion. By showing extensive jumping control of JUMPBiE, it proves the feasibility of the proposed system configuration and provides in-depth insights on under-actuated bi-articular actuation. The background of the robot design and its modeling were elaborated, and discussed with relevant simulation results.

Original language	English
Title of host publication	2013 44th International Symposium on Robotics, ISR 2013
DOIs	https://doi.org/10.1109/ISR.2013.6695666
State	Published - 2013
Event	2013 44th IEEE International Symposium on Robotics, ISR 2013 - Seoul, Korea, Republic of Duration: 24 Oct 2013 → 26 Oct 2013

Publication series

Name	2013 44th International Symposium on Robotics, ISR 2013

Conference

Conference	2013 44th IEEE International Symposium on Robotics, ISR 2013
Country/Territory	Korea, Republic of
City	Seoul
Period	24/10/13 → 26/10/13

Keywords

Bi-articular
Jumping Robot
Manipulator
Under-actuated

Access to Document

10.1109/ISR.2013.6695666

Cite this

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title = "Simulation study on stabilization of a spring-loaded robotic leg using state feedback",

abstract = "This paper presents a novel type jumping robot using bi-articular spring and a mono-articular electric motor, JUMPBiE. The system design is based on the concept of the mono-bi configuration which can effectively reduce the number of actuators and thus cost, retaining the characteristics of bi-articular actuators such as high compliance, stabilization, accuracy, and homogeneity of motion. By showing extensive jumping control of JUMPBiE, it proves the feasibility of the proposed system configuration and provides in-depth insights on under-actuated bi-articular actuation. The background of the robot design and its modeling were elaborated, and discussed with relevant simulation results.",

keywords = "Bi-articular, Jumping Robot, Manipulator, Under-actuated",

author = "Yunha Kim and Sehoon Oh and Yoichi Hori",

year = "2013",

doi = "10.1109/ISR.2013.6695666",

language = "English",

isbn = "9781479911738",

series = "2013 44th International Symposium on Robotics, ISR 2013",

booktitle = "2013 44th International Symposium on Robotics, ISR 2013",

note = "2013 44th IEEE International Symposium on Robotics, ISR 2013 ; Conference date: 24-10-2013 Through 26-10-2013",

}

Kim, Y, Oh, S & Hori, Y 2013, Simulation study on stabilization of a spring-loaded robotic leg using state feedback. in 2013 44th International Symposium on Robotics, ISR 2013., 6695666, 2013 44th International Symposium on Robotics, ISR 2013, 2013 44th IEEE International Symposium on Robotics, ISR 2013, Seoul, Korea, Republic of, 24/10/13. https://doi.org/10.1109/ISR.2013.6695666

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AU - Kim, Yunha

AU - Oh, Sehoon

AU - Hori, Yoichi

PY - 2013

Y1 - 2013

N2 - This paper presents a novel type jumping robot using bi-articular spring and a mono-articular electric motor, JUMPBiE. The system design is based on the concept of the mono-bi configuration which can effectively reduce the number of actuators and thus cost, retaining the characteristics of bi-articular actuators such as high compliance, stabilization, accuracy, and homogeneity of motion. By showing extensive jumping control of JUMPBiE, it proves the feasibility of the proposed system configuration and provides in-depth insights on under-actuated bi-articular actuation. The background of the robot design and its modeling were elaborated, and discussed with relevant simulation results.

AB - This paper presents a novel type jumping robot using bi-articular spring and a mono-articular electric motor, JUMPBiE. The system design is based on the concept of the mono-bi configuration which can effectively reduce the number of actuators and thus cost, retaining the characteristics of bi-articular actuators such as high compliance, stabilization, accuracy, and homogeneity of motion. By showing extensive jumping control of JUMPBiE, it proves the feasibility of the proposed system configuration and provides in-depth insights on under-actuated bi-articular actuation. The background of the robot design and its modeling were elaborated, and discussed with relevant simulation results.

KW - Bi-articular

KW - Jumping Robot

KW - Manipulator

KW - Under-actuated

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DO - 10.1109/ISR.2013.6695666

M3 - Conference contribution

AN - SCOPUS:84893305592

SN - 9781479911738

T3 - 2013 44th International Symposium on Robotics, ISR 2013

BT - 2013 44th International Symposium on Robotics, ISR 2013

T2 - 2013 44th IEEE International Symposium on Robotics, ISR 2013

Y2 - 24 October 2013 through 26 October 2013

ER -

Simulation study on stabilization of a spring-loaded robotic leg using state feedback

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Keywords

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