JRM Vol.17 No.1 pp. 89-100
doi: 10.20965/jrm.2005.p0089

Development Report:

Experiments on Motion Control of Two-Joint Articulated Hopping Robot with Stopper Mechanisms

Gustavo Kato*, Hiroyuki Kojima*, Mamoru Yoshida*,
and Yusuke Wakabayashi**

*Department of Mechanical System Engineering, Gunma University, 1-5-1 Tenjin-cho, Kiryu, Gunma 376-8515, Japan

**Japan High Comm Co. Ltd., 5-14-18 Ishimura-machi, Maebashi, Gunma, Japan

July 14, 2004
December 20, 2004
February 20, 2005
articulated hopping robot, stopper mechanism, hopping motion control, instantaneous stop angle, delay time
In this report, a new-type two-joint articulated hopping robot with two stopper mechanisms is developed. The two rotary joints are actuated by two DC motors with reduction gears. In this new-type two-joint articulated hopping robot with two stopper mechanisms, the hopping motion actions are achieved by the two joint rotational dynamics and the two stopper mechanisms. Using the two stopper mechanisms, the angular momentums and momentums of the two links are transformed into the hopping motion action according to the law of conservation of angular momentum and momentum. Then, the hopping motion control system is constructed to fit the DC motor characteristics, and the effects of the stopper settings and the delay time of the control voltage of the DC motor on the hopping motion performance are experimentally investigated. Furthermore, the examples of the hopping motion control experiments are demonstrated, and it is confirmed that the forwards and backwards hopping motion actions can be successfully performed.
Cite this article as:
G. Kato, H. Kojima, M. Yoshida, and Y. Wakabayashi, “Experiments on Motion Control of Two-Joint Articulated Hopping Robot with Stopper Mechanisms,” J. Robot. Mechatron., Vol.17 No.1, pp. 89-100, 2005.
Data files:
  1. [1] H. Kojima, I. Murakami, S. Yoshida, and T. Sekiya, “Development of lineal DC motor surrounded by four faces for hopping robot and experiments of continuous hopping,” Journal of the Robotics Society of Japan, Vol.14, No.1, pp. 91-95, 1996.
  2. [2] J. Burdick, and P. Fiorini, “A minimalistic actuated hopping robot for exploration of celestial bodies,” International Journal of Robotic Research, Vol.22, pp. 653-660, 2003.
  3. [3] S. Stoeter, P. Rybsky, M. Gini, and N. Papanikolopoulos, “Autonomous stair-hopping with scout robots,” Proceeding of International Conference of Intelligent Robots and Systems (IROS02), paper #362.
  4. [4] B. Brown, and G. Zeglin, “The bow leg hopping robot,” International Proceeding of the IEEE Conference on Robotics and Automation (ICRA98), pp. 781-786, 1998.
  5. [5] S. Hyon, S. Kamijo, and T. Mita. “‘Kenken’ – A biologically inspired one-legged running robot,” Journal of the Robotics Society of Japan, Vol.20, No.4, pp. 453-462, 2002.
  6. [6] M. Raibert, H. Brown, and M. Chepponis, “Experiments in balance with a 3D one-legged hopping machine,” International Journal of Robotic Research, Vol.3, pp. 75-92, 1984.
  7. [7] Sandia National Laboratories,
  8. [8] R. Hayashi, and S. Tsujio, “High performance jumping movements by pendulum-type machines,” Journal of the Robotics Society of Japan, Vol.19, No.4, pp. 528-534, 2001.
  9. [9] G. W. Houser, and D. E. Hudson, “Applied Mechanics: Dynamics,” D. Van Nostrand Company, 1959.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 19, 2024