抄録
We have developed one-legged jumping robots using crank mechanism. The robot has a spring and a motor and it succeeded in continuous jumping supported by a stand to restrain its motion in the vertical direction of one degree of freedom. In this study, we improved the one-legged jumping robot in order to remove the stand from the robot and to jump continuously without falling in three degrees of freedom on a vertical two-dimensional plane. The robot is constructed by adding a hip joint to the previous robot. We also developed smaller robot. Some experiments are conducted to verify the robot. The experimental results of implementing a posture stabilization control are shown.
