Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure

Yuya Nishida; Takashi Sonoda; Kazuo Ishii

doi:10.20965/jrm.2011.p0225

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JRM Vol.23 No.2 pp. 225-230

doi: 10.20965/jrm.2011.p0225

(2011)

Paper:

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Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure

Yuya Nishida^*, Takashi Sonoda^**, and Kazuo Ishii^*

^*Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan

^**Fukuoka Industry, Science & Technology Foundation, 1-1 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0135, Japan

Received:

September 30, 2010

Accepted:

January 10, 2011

Published:

April 20, 2011

Keywords:

high power joint, locust leg, structure, Jacobian matrix, design principle

Abstract

Many insects can jump several times their own body length. Locusts with their powerful hind legs can for example jump up to five times as high - 250 mm. We propose a high-power joint mechanism mimicking the locust leg structure in walking and jumping. The mechanism can produce power higher than motors mounted in the joint mechanism and separate walking and jumping using two motors. We also report the joint mechanism design principles.

Cite this article as:

Y. Nishida, T. Sonoda, and K. Ishii, “Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure,” J. Robot. Mechatron., Vol.23 No.2, pp. 225-230, 2011.

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References

[1] A. A. F. Nassiraei, S. Masakado, T. Matsuo, T. Matsuo, T. Sonoda, I. Takahira, H. Fukushima, M. Murata, K. Ichikawa, K. Ishii, and T. Miki, “Development of Artistic Robot “Jumping Joe”,” Proc. of IEEE Iros’06, pp. 1720-1725, 2006.
[2] A. A. F. Nassiraei, M. Murata, K. Ichikawa, and K. Ishii, “Realization of the Rapid Movements for the Entertainment Robots by Using Two New Actuators “Inertia Actuator” & “Cam Charger”,” Proc. ASME IMECE2006, IMECE2006-1425, 2006.
[3] R. Niiyama, A. Nagakubo, and Y. Kuniyoshi, “A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation, pp. 2546-2551, 2007.
[4] T. Tanaka and S. Hirose, “Development of Leg-Wheel Hybrid Quadruped “AirHopper”: Lightweight Leg-Wheel Design,” J. of Robotics and Mechatronics, Vol.20, No.4, pp. 533-540, 2008.
[5] T. J. Roverts and R. L. Marsh, “Probing the Limits to Musclepowered Accelerations: Lessons from Jumping Bull frogs,” J. of Experimental Biology, Vol.206, No.15, pp. 2567-2580, 2003.
[6] W. Gronenberg, “Fast Actions in Small Animals: Springs and Click Mechanisms,” J. of Comparative Physiology A: Sensory, Neural, and Behavioral Physiology, Vol.178, No.6, pp. 467-472, 2007.
[7] R. L. Marsh, “Jumping Ability of Anuran Amphibians,” In Advances in Veterinary Science and Comparative Medicine, Vol.38B, pp. 51-111, 1994.
[8] R. D. Santer, Y. Yamawaki, F. C. Rind, and P. J. Simmons, “Motor Activity and Trajectory Control During Escape Jumping in the Locust Locusta migratoria,” J. of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology, Vol.191, No.10, pp. 965-975, 2005.
[9] H. C. Bannet-Clark, “The energetic of the Locust Schistocerca gregaria,” J. of Experimental Biology, Vol.63, pp. 53-83, 1975.
[10] W. J. Heitler, “The Locust Jump,” J. of Comparative Physiology A: Neuroethology, Sensory, Neural, and behavioral physiology, Vol.89, No.1, pp. 93-104, 1974.
[11] M. Kovac, M. Fuchs, and A. Guignard, “Jean-Christophe Zufferey, Dario Floreano, A mimiature 7g jumping robot,” Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA’2008), pp. 373-378, 2008.
[12] M. Kobac, M. Schlegel, J. Christophe, and D. Floreano, “A miniature Jumping Robot with Self-Recovery Capavilities,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 583-588, 2009.
[13] Y. Nishida, T. Sonoda, and K. Ishii, “Jacobian Matrix Derived from Cross Product and its Application into High Power Joint Mechanism Analysis,” J. of Bionic Engineering, Vol.7 Suppl., S218-S223, 2010.

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

[1] [1] A. A. F. Nassiraei, S. Masakado, T. Matsuo, T. Matsuo, T. Sonoda, I. Takahira, H. Fukushima, M. Murata, K. Ichikawa, K. Ishii, and T. Miki, “Development of Artistic Robot “Jumping Joe”,” Proc. of IEEE Iros’06, pp. 1720-1725, 2006.

[2] [2] A. A. F. Nassiraei, M. Murata, K. Ichikawa, and K. Ishii, “Realization of the Rapid Movements for the Entertainment Robots by Using Two New Actuators “Inertia Actuator” & “Cam Charger”,” Proc. ASME IMECE2006, IMECE2006-1425, 2006.

[3] [3] R. Niiyama, A. Nagakubo, and Y. Kuniyoshi, “A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation, pp. 2546-2551, 2007.

[4] [4] T. Tanaka and S. Hirose, “Development of Leg-Wheel Hybrid Quadruped “AirHopper”: Lightweight Leg-Wheel Design,” J. of Robotics and Mechatronics, Vol.20, No.4, pp. 533-540, 2008.

[5] [5] T. J. Roverts and R. L. Marsh, “Probing the Limits to Musclepowered Accelerations: Lessons from Jumping Bull frogs,” J. of Experimental Biology, Vol.206, No.15, pp. 2567-2580, 2003.

[6] [6] W. Gronenberg, “Fast Actions in Small Animals: Springs and Click Mechanisms,” J. of Comparative Physiology A: Sensory, Neural, and Behavioral Physiology, Vol.178, No.6, pp. 467-472, 2007.

[7] [7] R. L. Marsh, “Jumping Ability of Anuran Amphibians,” In Advances in Veterinary Science and Comparative Medicine, Vol.38B, pp. 51-111, 1994.

[8] [8] R. D. Santer, Y. Yamawaki, F. C. Rind, and P. J. Simmons, “Motor Activity and Trajectory Control During Escape Jumping in the Locust Locusta migratoria,” J. of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology, Vol.191, No.10, pp. 965-975, 2005.

[9] [9] H. C. Bannet-Clark, “The energetic of the Locust Schistocerca gregaria,” J. of Experimental Biology, Vol.63, pp. 53-83, 1975.

[10] [10] W. J. Heitler, “The Locust Jump,” J. of Comparative Physiology A: Neuroethology, Sensory, Neural, and behavioral physiology, Vol.89, No.1, pp. 93-104, 1974.

[11] [11] M. Kovac, M. Fuchs, and A. Guignard, “Jean-Christophe Zufferey, Dario Floreano, A mimiature 7g jumping robot,” Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA’2008), pp. 373-378, 2008.

[12] [12] M. Kobac, M. Schlegel, J. Christophe, and D. Floreano, “A miniature Jumping Robot with Self-Recovery Capavilities,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 583-588, 2009.

[13] [13] Y. Nishida, T. Sonoda, and K. Ishii, “Jacobian Matrix Derived from Cross Product and its Application into High Power Joint Mechanism Analysis,” J. of Bionic Engineering, Vol.7 Suppl., S218-S223, 2010.

Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure

Yuya Nishida*, Takashi Sonoda**, and Kazuo Ishii*

Yuya Nishida^*, Takashi Sonoda^**, and Kazuo Ishii^*