
Description:

Supplementary Material to
"Mowgli: A Bipedal Jumping and Landing Robot with Artificial Musculoskeletal System",
by Ryuma Niiyama, Akihiko Nagakubo, Yasuo Kuniyoshi.

In this research, we developed a bipedal robot with an artificial musculoskeletal system. Here we present an approach to realize motor control of jumping and landing which exploits the synergy between control and mechanical structure.

 Our experimental system is a bipedal robot called MOWGLI. This video shows a jumping experiment onto a chair with height of 0.4m. Mowgli can reach jump heights of more than 50% of its body height and can land softly. As a multiple-DOF legged robot, this performance is extremely high. 

 Our results show a proximo-distal sequence of joint extensions during jumping despite simultaneous motor activity. In addition to the experiments with the real robot, the simulation results demonstrate the contribution of the artificial musculoskeletal system as a physical feedback loop in explosive movements.


Player Information:
 The video is available in mpeg-1 format. The videos should be viewable using Windows Media Player. The mpeg streams were encoded by Adobe Media Encoder. The total size is about 4.87MB.


Contact Information:
 For any questions please contact:Ryuma NIIYAMA (niiyama@isi.imi.i.u-tokyo.ac.jp),
The University of Tokyo, Tokyo, Japan.



Attachment filename: 1196_VI.mpg (5109764 Bytes)