Abstract
Many jumping robots have been studied, and many jumps by humanoid robots have been reported. This paper describes realization of jumping by a humanoid robot with spring equipment. The purpose of this work is to enable a low-power humanoid robot to jump. We have designed spring equipment and humanoid motions for jumping in consideration of performance of the humanoid's actuators. The humanoid can store energy in the spring by vibrating the spring with resonance frequency. Finally, the low-power humanoid could have temporarily higher energy with the elasticity of the spring, and we have achieved jumping by NAO that has its battery and CPU onboard.
