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Research Papers

A Biarticulated Robotic Leg for Jumping Movements: Theory and Experiments

[+] Author and Article Information
J. Babič, D. Omrčen, J. Lenarčič

Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana 1000, Slovenia

Bokman Lim

Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Korea

F. C. Park1

Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Koreafcp@snu.ac.kr

1

Corresponding author.

J. Mechanisms Robotics 1(1), 011013 (Aug 05, 2008) (9 pages) doi:10.1115/1.2963028 History: Received June 22, 2008; Revised July 02, 2008; Published August 05, 2008

This paper investigates the extent to which biarticular actuation mechanisms—spring-driven redundant actuation schemes that extend over two joints, similar in function to biarticular muscles found in legged animals—improve the performance of jumping and other fast explosive robot movements. Robust numerical optimization algorithms that take into account the complex dynamics of both the redundantly actuated system and frictional contact forces are developed. We then quantitatively evaluate the gains in vertical jumping vis-à-vis monoarticular and biarticular joint actuation schemes and examine the effects of spring stiffness and activation angle on overall jump performance. Both numerical simulations and experiments with a hardware prototype of a biarticular legged robot are reported.

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Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Biarticular gastrocnemius muscle and its kinematic diagram

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Figure 2

Biarticular leg model

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Figure 3

Robot jumping sequence

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Figure 5

Initial and optimized vertical jumps for the biarticular case

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Figure 6

Joint velocities and torques, normal contact forces, and biarticular force trajectories for optimized vertical jumps (i: initial motion, c: conventional robot, m: monoarticular legged robot, and b: biarticular legged robot)

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Figure 7

Hardware prototype and its CAD model

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Figure 8

A sequence of the biarticular legged robot performing a vertical jump experiment

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