Abstract
In recent years, in various fields a robot's usefulness is accepted and utility value of robots is increasing. As the robot's moving method, a two-legs walking robot can walk on an irregular ground and a non-continuous scaffold. And it can move even in human's life space and co-exist with a human in the architectural space. Now various two-legs walking robots are researched and developed in. However, it cannot be said that energy efficiency of the two-legs robots is still good. Then, we consider combination of a motor and a spring, in order to improve energy efficiency. It is believed that using a spring to absorb the shock at the time of the landing of the robot and to be available to the energy of the next operation. In this study, we have produced a prototype that combines the spring and the motor, and the simulation of dynamic model is carried out using the PSO algorithm.
