In this research, the possibility of motor-spring series connection type biomimetic actuator was investigated. The motion of the joint angle is controlled by two D.C. motor through each spring. In the previous report, The autohors investigated how to jump in the conditions that starts from the full close position or from the standing position using bending and stretching reaction. The properties of the continuous jumping and soft landing by this actuator were also investigated. To get the optimal scheme, however, was difficult during so many probabilities. In this study, the optimal scheme of jumping action using bending and stretching reaction was investigated. the scheme is as follows. (1) When closing the joint, the joint is controlled as if the upper parts is in the free fall condition. (2) The full volgate was applied to the motor for jumping on the timing that the closing upper and lower parts does not collide and the rest of the angle is minimum when the actuator was transit from closing to opening. (3) After that, the motor was fully powered until the bottom of the actuator is taken off the floor. (4) After the takeoff, Actuator was braking to avoid the reverseness of the joint. The authors are now investigating the optimal scheme of the continuous jumping.
