Bipedal Sprint Robot Having Superhuman Mobility Capabilities
| Project/Area Number |
25709019
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| Research Category |
Grant-in-Aid for Young Scientists (A)
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| Allocation Type | Partial Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Waseda University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥24,570,000 (Direct Cost: ¥18,900,000、Indirect Cost: ¥5,670,000)
Fiscal Year 2016: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2015: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2014: ¥8,060,000 (Direct Cost: ¥6,200,000、Indirect Cost: ¥1,860,000)
Fiscal Year 2013: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
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| Keywords | ヒューマノイド / ２足走行 / 走行運動解析 / 走行運動制御 / ロボティクス / 知能ロボティックス / ２足歩行 / 剛性可変機構 / 弾性可変機構 |
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| Outline of Final Research Achievements |
The objective of this research is to develop a bipedal sprint robot that can mimic human running motion. Through the development of the robot, we aim to quantitatively evaluate the influence of differences in pelvic movements and running styles on running motion, and to create a novel sports coaching program. Through human motion analysis, we found that pelvic movement contributes to the running motion. Therefore, we developed a bipedal robot WATHLETE-1 which has a waist joint and has elastic elements in the knee joint and ankle joint. WATHLETE-1 has 22 degrees of freedom in total, has a height of 1,500mm, a weight of 62kg. By developing running motion control, the robot realized a one-leg jumping motion. We also developed an angular momentum control in the yaw direction, the robot could compensate the angular momentum generated in the lower body by the upper body.
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Report
(5 results)
Research Products
(28 results)
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[Journal Article] Utilization of Human-Like Pelvic Rotation for Running Robot2016
Author(s)
Takuya Otani, Kenji Hashimoto, Masaaki Yahara, Shunsuke Miyamae, Takaya Isomichi, Shintaro Hanawa, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi
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Journal Title
Frontiers in Robotics and AI
Volume: Vol.2, No.17
Pages: 1-9
DOI
Related Report
Peer Reviewed / Open Access / Acknowledgement Compliant
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[Presentation] Leg with Rotational Joint That Mimics Elastic Characteristics of Human Leg in Running Stance Phase2014
Author(s)
Takuya Otani, Thomas George, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi
Organizer
14th IEEE-RAS International Conference on Humanoid Robots
Place of Presentation
Madrid, Spain
Year and Date
2014-11-18 – 2014-11-20
Related Report
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[Presentation] Hopping Robot Using Pelvic Movement and Leg Elasticity2014
Author(s)
Takuya Otani, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi
Organizer
2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators
Place of Presentation
Moscow, Russia
Year and Date
2014-06-23 – 2014-06-26
Related Report
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[Presentation] Running Model and Hopping Robot Using Pelvic Movement and Leg Elasticity2014
Author(s)
Takuya Otani, Masaaki Yahara, Kazuhiro Uryu, Akihiro Iizuka, Kenji Hashimoto, Tatsuhiro Kishi, Nobutsuna Endo, Masanori Sakaguchi, Yasuo Kawakami, Sang-Ho Hyon, Hun-ok Lim and Atsuo Takanishi
Organizer
2014 IEEE International Conference on Robotics and Automation
Place of Presentation
Hong Kong, China
Year and Date
2014-05-31 – 2014-06-07
Related Report
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