622 遊星歯車機構による可動連動型跳躍ロボットの開発

概要

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Biarticular muscle of human that acts on knee joint and ankle joint play an important role for dynamic locomotion such as jumping. In this research, the jump robot that has variable interlocking mechanism by planet gear was developed. While not using the planet gear, ankle movement is geared to knee. The ratio of its movement is 1 to 1. By using the planet gear, that rate becomes variable. Therefore, it is possible that driving only ankle joint not to drive knee, and to settle the direction of jumping by the ankle joint. Referring to jump of human, the jump experiment was done by this robot using motion control. As a result of the jump experiment, it was confirmed to this robot that jump movement near human's jump operations was possible. And the numerical analysis of the robot that jumped was done.
2009-08-03