Art

J-GLOBAL ID：201402270169404754   Reference number：14A0535216

A musculoskeletal bipedal robot designed with angle-dependent moment arm for dynamic motion from multiple states

複数状態からの動的運動のために角度依存モーメントアームを用いて設計された筋骨格2足歩行ロボット

Author (7)： NISHIKAWA Satoshi (Univ. Tokyo, Tokyo, JPN) ,  NISHIKAWA Satoshi (Japan Soc. for the Promotion of Sci., Tokyo, JPN) ,  TANAKA Kazutoshi (Univ. Tokyo, Tokyo, JPN) ,  SHIDA Kazuya (Univ. Tokyo, Tokyo, JPN) ,  FUKUSHIMA Toshihiko (Univ. Tokyo, Tokyo, JPN) ,  NIIYAMA Ryuma (Massachusetts Inst. of Technol., MA, USA) ,  KUNIYOSHI Yasuo (Univ. Tokyo, Tokyo, JPN)
Material： Advanced Robotics  (Adv Robot)
Volume： 28  Issue： 7/8  Page： 487-496  Publication year： 2014 
JST Material Number： T0339A  ISSN： 0169-1864  Document type： Article
Article type： 原著論文  Country of issue： United Kingdom (GBR)  Language： ENGLISH (EN)

Thesaurus term： walking robot ,  mobile robot ,  movement physiology ,  *angular dependence ,  actuator ,  biological model ,  musculoskeletal system
Semi thesaurus term： *moment arm ,  bipedal walking robot ,  angular dependence ,  musculoskeletal model ,  *jumping robot ,  saltatory motion

JST classification (2)： Motion and control of robots  (IC04012J) ,  Design,manufacturing,and components of robots  (IC04013A)

Reference (16)：

• Raibert MH. Legged robots that balance. Cambridge (MA): The MIT Press; 1986.
• Niiyama R, Nagakubo A, Kuniyoshi Y. Mowgli: a bipedal jumping and landing robot with an artificial musculoskeletal system. In: IEEE International Conference on Robotics and Automation; 2007 April; Rome, Italy. p. 2546-2551.
• Hosoda K, Sakaguchi Y, Takayama H, Takuma T. Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure. Auton. Robot. 2010;28:307-316.
• Nagano A, Komura T. Longer moment arm results in smaller joint moment development, power and work outputs in fast motions. J. Biomech. 2003;36:1675-1681.
• Baxter JR, Novack TA, Werkhoven HV, Pennell DR, Piazza SJ. Ankle joint mechanics and foot proportions differ between human sprinters and non-sprinters. Proc. R. Soc. B. 2012;279:2018-2024.

Terms in the title (5)： 運動 ,  角度依存 ,  モーメントアーム ,  設計 ,  2足歩行ロボット