振子式跳躍機械による階段移動の実現(機械力学,計測,自動制御)

概要

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In our research, we consider of applying the swing of human's arms to the mechanical elements of a jumping machine. We call such a jumping machine 'Pendulum-type Jumping Machine'. In this paper, a pendulum-type jumping machine which consists of three links and two motors is constructed. One of three links is treated as the body of the jumping machine and the others are treated as its arms. The jumping machine can jump up to a step by swinging arms cooperatively. We introduce the scheme of soft landing so that the jumping machine can land on the step without tumble. The posture control problem of a free-flying system is explored to achieve the soft landing by the jumping machine. Then the ability of ascending stairs by the jumping machine is demonstrated through experiments.
社団法人日本機械学会の論文
2008-12-25