自己振動を利用した跳躍機械に関する研究

―小出力アクチュエータを用いた跳躍の実現―

抄録

The purpose of this research is to make a machine or a robot jump highly using small output actuators.
It is sometimes necessary for a robot to jump over a big obstacle. This usually requires large output actuators. But it is difficult to find light actuator with large output.
A jumping machine with a self-energizing spring system is introduced, which is designed to jump using small actuators and springs. Power for the self energizing system is generated using small actuators. And it can jump highly.
Computer simulations and experiments are performed to prove the validity of the jumping machine and the self energizing system.