多自由度跳躍ロボットの設計

―基本設計と計算機シミュレーション―

抄録

We are researching design and control of jumping robots (e.g. normal jump, somersault, jump on a stair) composed of a multi degrees of freedom link. We call such robots“Multi-DOF Jumping Robot”. In this paper, we deal with 5 link 4 joint serial link as an example of Multi-DOF Jumping Robot, and discuss about the way of determination of design parameters under realistic conditions. The design parameters mean not only mechanical parameters but also motion planning parameters. At first, we show the type of jumping motion that we deal with in this paper, and derive conditions to achieve that. Then, we propose a motion planning method for jumping motions on the basis of boundary state between ground and aerial phase. Next, we deliberate limit characteristic of DC motors that are suitable for Multi-DOF Jumping Robot design, and derive equations that express the limit characteristic. At last, we present one set of practical design parameters, and show simulation results of normal jump and somersault.