胴体部に振動ユニットを搭載した脚型跳躍ロボット

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  • Legged Jumping Robot Equipped with a Vibration Unit on the Body

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<p>It is not easy to realize the dynamic movements of legged robots, such as jumping or running. This is due to the poor power-to weight ratio of the existing actuator and the energy density of the existing energy source, which makes it difficult to generate a large amount of power instantaneously. In this paper, a robot system equipped with a vibration unit on the body part for jumping motion is proposed. The importance of improving the robot's vertical output for jumping motion is indicated. A unit consisting of a weight and a spring - the vibration unit - is proposed. In order to accumulate a small amount of power to make a large amount of energy, a legged robot system with the vibration unit on its body and serially configured leg mechanisms for vertical excitation is introduced. The mechanical and control system design is illustrated. The effect of the vibration unit is verified in computer simulations. Experimental results of the robot's jumping behavior with and without the vibrating unit are also shown and discussed. </p>

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