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

Gustavo Kato; Hiroyuki Kojima; Mamoru Yoshida; Yusuke Wakabayashi

doi:10.20965/jrm.2005.p0089

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JRM Vol.17 No.1 pp. 89-100

doi: 10.20965/jrm.2005.p0089

(2005)

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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

Received:

July 14, 2004

Accepted:

December 20, 2004

Published:

February 20, 2005

Keywords:

articulated hopping robot, stopper mechanism, hopping motion control, instantaneous stop angle, delay time

Abstract

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 <. 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.

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References

[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] 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] 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] 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] 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] 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] Sandia National Laboratories, www.sandia.gov.
[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] G. W. Houser, and D. E. Hudson, “Applied Mechanics: Dynamics,” D. Van Nostrand Company, 1959.

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

[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, www.sandia.gov.

[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.

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

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

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