Abstract
One leg with an ankle joint, a knee joint, and a hip joint was made, and the wire rolling-up type actuator which inserted the spring in series was attached to the knee joint. The relation between joint angular acceleration and a jump was analyzed, and it was shown that rotation of an ankle enlarges jump height. As a result of the experiment, in the time of the second half when a leg is extended, the spring generated large power and it turned out that this power makes a jump possible.
