主催: The Institute of Systems, Control and Information Engineers
会議名: 2018 国際フレキシブル・オートメーション・シンポジウム
開催地: Kanazawa Chamber of Commerce and Industry, Kanazawa Japan
開催日: 2018/07/15 - 2018/07/19
p. 205-208
In this paper, we develop a prototype of legged robot to investigate whether its efficient jumping motion is achieved by using singular configurations. The experimental prototype is composed of a legged robot with three revolute joints and a tilting table on which the robot performs its jumping motion. According to the tilt angle of the table, various motions can be performed on the table from vertical jumping to horizontal pushing. The results of trial experiments for horizontal pushing indicate that, when the final posture of the robot is close to the singular configuration, the movement distance of the robot tends to be larger comparing with the case where the final posture is far from the singular configuration.
