抄録
We developed an artistic robot that is called "Jumping Joe." The robot has some special functions such as jumping and somersault. To achieve these special functions, the robot has the joint mechanisms that are employing parallel mechanisms with actuational redundancy. Those joints are employed as the hip joints. In this paper, we describe the structures of the hip joints, and the kinematic analyses of those mechanisms such as direct kinematics, inverse kinematics, singularity and static dynamics.
