抄録
Bipedal robots have been developed that are capable of various motions such as walking, running and jumping. In particular, dynamic motion including running and jumping requires high power in a short time. Humans generate the instantaneous force by the elastic element and control it by the viscous element in the muscles. Therefore we develop a leg robot for jumping that relies on these elements. This robot uses a straight-fiber-type artificial muscle and a magnetorheological (MR) brake. In this study, we produced one-leg robot, calculated the jumping height and conducted the jumping experiment to evaluate the simulation. As a result the robot jumped when the mass of the robot was 1.5 kg, 1.0 kg and 0.5 kg. The jumping height was 33.9 mm, 54.2 mm and 82.5 mm. The simulation result was 36.9 mm, 59.0 mm and 94.6 mm.
