抄録
We developed the artistic robot "J2: Jumping Joe". This robot behaves some acrobatic motions. So, this robot's joints needs high specification. The joints of this robot should be strong, stiffness, and speedy. But such as the joints usually becomes heavy and big. The robot joints employing linkage mechanisms (parallel mechanism) was adopted as an approach to obtain lightening and high speed achieving high power and a high rigidity.
