Realization of Rapid Movement for Legged Entertainment Robots  Using Two New Actuators, the Inertia Actuator and the Cam Charger

Amir Ali Forough Nassiraei; Kazuo Ishii; Seiji Masakado; Takayuki Matsuo; Kodai Ichikawa; Hajime Fukushima; Masayuki Murata; Takashi Sonoda; Isao Takahira; Tsutomu Miki

doi:10.20965/jaciii.2007.p0979

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JACIII Vol.11 No.8 pp. 979-988

doi: 10.20965/jaciii.2007.p0979

(2007)

Paper:

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Realization of Rapid Movement for Legged Entertainment Robots Using Two New Actuators, the Inertia Actuator and the Cam Charger

Amir Ali Forough Nassiraei^*,, Kazuo Ishii^, Seiji Masakado^,
Takayuki Matsuo^, Kodai Ichikawa^, Hajime Fukushima^,
Masayuki Murata^, Takashi Sonoda^, Isao Takahira^,
and Tsutomu Miki^

^*FAIS-Robotics Development Support Office, Collaboration Center 4F, 2-1 Hibikino, Wakamatsu-ku, Kitakyushu City, Fukuoka 808-0196, Japan

^**Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu City, Fukuoka 808-0196, Japan

Received:

March 19, 2007

Accepted:

May 24, 2007

Published:

October 20, 2007

Keywords:

rapid motion, inertia actuator, cam charger, legged entertainment robot

Abstract

We discuss the realization of rapid movement for legged entertainment robots using two new actuators, the Inertia Actuator and the Cam Charger. As an internal torque generator, the Inertia Actuator generates small internal torque by changing the rotor speed and large internal torque quickly by using a brake to stop the rotor at high speed. To realize jumping, we introduce the Cam Charger to fit to the robot foot. The key is to charge a series of strong torsion springs using a specially shaped cam. After detailing of the Cam Charger and the Inertia Actuator principles, we evaluate the feasibility of our approach through simulation. We show experimentally that our artistic “Jumping Joe” robot prototype including these two actuators demonstrates rapid movements such as fast wakeup, jumping, and somersaults.

Cite this article as:

A. Nassiraei, K. Ishii, S. Masakado, T. Matsuo, K. Ichikawa, H. Fukushima, M. Murata, T. Sonoda, I. Takahira, and T. Miki, “Realization of Rapid Movement for Legged Entertainment Robots Using Two New Actuators, the Inertia Actuator and the Cam Charger,” J. Adv. Comput. Intell. Intell. Inform., Vol.11 No.8, pp. 979-988, 2007.

Data files:

References

[1] K. Matsuoka, “A mechanical model of repetitive hopping movements,” Biomechanisms, Vol.5, pp. 251-258, 1980.
[2] M. H. Raibert, H. B. Brown, Jr., and M. Chepponis, “Experiments in balance with a 3D one-legged hopping machine,” Int. J. Robot. Res., Vol.3, No.2, pp. 75-92, 1984.
[3] M. Raibert, “Legged Robots that balance,” MIT Press, Cambridge, 1986.
[4] H. Okubo, M. Handa, and E. Nakano, “Design of a Jumping Machine Using Self-energizing Spring-Jumping by Small Actuators,” Journal of Robotics Society of Japan, Vol.16, No.5, pp. 57-63, 1988.
[5] S. Hyon and T. Mita, “Development of a biologically inspired hopping robot-Kenken,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3984-3991, 2002.
[6] K. Arikawa and T. Mita, “Design of Multi-DOF jumping robot,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3992-3997, 2002.
[7] S. Hyon, N. Yokoyama, and T. Emura, “Back Handspring of a Multi-link Gymnastic Robot- Reference model approach,” Advance Robotics, Vol.20, No.1, pp. 93-113, 2006.
[8] P. Fiorini and J. Burdisk, “The development of hopping capabilities for small robots,” Auton. Robots, Vol.14, No.2-3, pp. 239-254, Mar./May, 2003.
[9] S. A. Stoeter and N. Papanikolopoulos,“Kinematic Motion Model for Jumping Scout Robots,” IEEE Transaction on robotics, Vol.22, No.2, pp. 398-403, 2006.
[10] B. Thornton, T. Ura, Y. Nose, and E. Turnock, “Zero-G Class Underwater Robots and Unrestricted Attitude Control using Control Moment Gyros,” CD-ROM Proc. OCEANS’06, Singapore, 2006.5.
[11] N. M. Mayer, R. S. Guerra, M. Ogino, and M. Asada, “Stabilizing a Biped Robot by Using a Symmetric Rotor,” CD-ROM Proc. of RoboMec 2005, 1P2-S-045, 2005.
[12] J. E. Shigley and C. R. Mischke, “Mechanical Engineering Design,” McGraw-Hill Higher Education, 2001.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Matsuoka, “A mechanical model of repetitive hopping movements,” Biomechanisms, Vol.5, pp. 251-258, 1980.

[2] [2] M. H. Raibert, H. B. Brown, Jr., and M. Chepponis, “Experiments in balance with a 3D one-legged hopping machine,” Int. J. Robot. Res., Vol.3, No.2, pp. 75-92, 1984.

[3] [3] M. Raibert, “Legged Robots that balance,” MIT Press, Cambridge, 1986.

[4] [4] H. Okubo, M. Handa, and E. Nakano, “Design of a Jumping Machine Using Self-energizing Spring-Jumping by Small Actuators,” Journal of Robotics Society of Japan, Vol.16, No.5, pp. 57-63, 1988.

[5] [5] S. Hyon and T. Mita, “Development of a biologically inspired hopping robot-Kenken,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3984-3991, 2002.

[6] [6] K. Arikawa and T. Mita, “Design of Multi-DOF jumping robot,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3992-3997, 2002.

[7] [7] S. Hyon, N. Yokoyama, and T. Emura, “Back Handspring of a Multi-link Gymnastic Robot- Reference model approach,” Advance Robotics, Vol.20, No.1, pp. 93-113, 2006.

[8] [8] P. Fiorini and J. Burdisk, “The development of hopping capabilities for small robots,” Auton. Robots, Vol.14, No.2-3, pp. 239-254, Mar./May, 2003.

[9] [9] S. A. Stoeter and N. Papanikolopoulos,“Kinematic Motion Model for Jumping Scout Robots,” IEEE Transaction on robotics, Vol.22, No.2, pp. 398-403, 2006.

[10] [10] B. Thornton, T. Ura, Y. Nose, and E. Turnock, “Zero-G Class Underwater Robots and Unrestricted Attitude Control using Control Moment Gyros,” CD-ROM Proc. OCEANS’06, Singapore, 2006.5.

[11] [11] N. M. Mayer, R. S. Guerra, M. Ogino, and M. Asada, “Stabilizing a Biped Robot by Using a Symmetric Rotor,” CD-ROM Proc. of RoboMec 2005, 1P2-S-045, 2005.

[12] [12] J. E. Shigley and C. R. Mischke, “Mechanical Engineering Design,” McGraw-Hill Higher Education, 2001.

Realization of Rapid Movement for Legged Entertainment Robots Using Two New Actuators, the Inertia Actuator and the Cam Charger

Amir Ali Forough Nassiraei*,**, Kazuo Ishii**, Seiji Masakado**, Takayuki Matsuo**, Kodai Ichikawa**, Hajime Fukushima**, Masayuki Murata**, Takashi Sonoda**, Isao Takahira**, and Tsutomu Miki**

Amir Ali Forough Nassiraei^*,, Kazuo Ishii^, Seiji Masakado^,
Takayuki Matsuo^, Kodai Ichikawa^, Hajime Fukushima^,
Masayuki Murata^, Takashi Sonoda^, Isao Takahira^,
and Tsutomu Miki^