G0600-6-3 Study on a Full-Scale Jumping Humanoid Robot and Jumping Equipment Driven by a Novel Combustion Linear Actuator

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  • G0600-6-3 燃焼式直動アクチュエーターによる跳躍ロボットの駆動実験(熱工学部門一般講演(6):燃焼(1))

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In recent years, athletic humanoid robots have been popular, but the electrical motors equipped in their joints and heavy batteries do not allow them the more quick actions. Another type of actuators of light, compact and no-auxiliary, are required to bring them more quick motion. In this study, novel combustion linear actuator, which stores once a combustion driving force to springs as mechanical energy, was developed. First, a high-speed direct observations of the combustion behavior in a model constant volume chamber was carried out for a high performance combustion condition. Second, to verify the performance of the actuator for heavy load, an operational test of lifting was made. The test showed the successful lift performance for 17 kg mass par an unit. Prototype models of a full-scale jumping robot and a 2-dimensional jumping device were driven by the actuators.

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