抄録
Recently, the animal type robots are widely developed. The rapid and smooth motion represented for the jump operation is difficult by the conventional animal type robot because jump or running operation requires a large amount of energy instantaneously. However, animals can jump easily compared with robots. The characteristics of animal's legs are not equipped in the robot mechanism because animals have bi-articular muscles, which affect two joints simultaneously. In this study, we focus attention on the difference of motion mechanism between animal and robot, and the aim of this study is enable running making use of robot by the mechanism like animal muscles. We proposed the mechanism of leg imitated animals called pantograph model. We investigated motion characteristics of the pantograph model, and the motion changing is analyzed, when the force is generated by extending the leg. In the result of experiment, this model transfers the torque generated by actuator to the toe. In addition, this model automatically adjusted so that the ground reaction force turning to the center of gravity. The robot equipped this model in the legs can jump easily by simple system.
