Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
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Analysis and Design of Jumping Robot System Using the Model Transformation Method

  • Suh Jin-Ho (R&D, Pohang Institute of Intelligent Robotics(PIRO)) ;
  • Yamakita Masaki (Dept. of Mechanical and Control System Engineering, Tokyo Institute of Technology)
  • Published : 2006.06.01
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Abstract

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

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References

  1. M. Yamakita and K. Furuta, 'Iterative Generation of Virtual Reference for a Manipulator', J. of Robotica, Vol. 9, pp. 71-80, 1991 https://doi.org/10.1017/S0263574700015587
  2. M. Yamakita and Y. Omagari, 'Jumping cat robot with kicking a wall', Proc. of Adaptive Motion of Animals and Machines, 2002
  3. J. H. Suh, M. Yamakita, and S. B. Kim, 'Jumping Control of Cat Robot System using Model Transformation', Proc. of KIEE Conf, pp. 2427-2429, 2002
  4. J. H. Suh, M. Yamakta, and K. S. Lee, 'A Study on Motion Planning Generation of Jumping Robot System using Model Transformation Method', J. of KSPE, Vol. 21, No. 4, pp. 120-13 1, April, 2004
  5. J. H. Suh, M. Yamakita, and K. S. Lee, 'Study on Jumping Robot System using Model Transformation', Proc. of KIEE Conf, pp. 228-235, May, 2004