一脚ロボットの跳躍現象に関する研究(<特集>第17回「電磁力関連のダイナミクス」シンポジウム)

概要

論文の詳細を見る
Recently, a few running robots have been developed. However, running speed is very low and stride of the robot is very short. In this study, the jump is designed as the basis process of running, and the jumping process of a one-leg robot is discussed, because the weight of a one-leg robot is light and the jump of a one-leg robot is simpler than those of two-legged running robots. In the first, this study examines various conditions for realizing large jumps of the one-leg robot. The one-leg robot with two actuators in the knee and the ankle joint is designed. Secondly numerical simulation for calculating jumping process of a one-leg robot is carried out by using multi-body dynamic analysis and Simulink tool box in Matlab. According to the analysis of results, we have found that the initial inclination angle of the one-leg robot's jumping process and the length of the foot are two important parameters to maximize the jumping distance of the one-leg robot.
日本AEM学会の論文
2006-03-10