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 have an elastic element and a viscous element in the muscles. So humans generate the instantaneous force by the elastic element when they kick ground and damp impact force by the viscous element when they make a landing. 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 with 2-DOF, structured the 2-DOF jumping model considering landing and calculated the jumping height by the simulation. As a simulation result the robot jumped safety. The jumping height was 50 mm in this simulation.
