Development of Biped Robot MARI-3 for Jumping
Abstract:A biped robot, MARI-3, for jumping is developed, of which the ultimate objective is fast walking and running. Its mechanical structure including the joint configuration and specification, the knee joint, and the speed reduction mechanism are described in detail. A specific control system RON (RObot Network) for MARI-3 that is a serial and distributed network and consists of a microcontroller, host unit, servo units, sensor units and servo amplifiers is presented as well as the sensor system. With the developed biped robot MARI-3, one-leg jumping of 110 ms jumping time and 4.0 cm jumping height was implemented as initiative and verification experiments. Furthermore, by comparison of MARI-3 with other jumping or running robots, MARI-3's potential ability for fast walking, jumping and running becomes clear.
Document Type: Research Article
Affiliations: 1: Department of Systems Life Engineering, Faculty of Engineering, Maebashi Institute of Technology, Kamisadori 460-1, Maebashi, Gunma, 371-0816, Japan 2: Department of Electrical and Computer Engineering, Graduate School of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan
Publication date: July 1, 2010