電磁クラッチを用いた1脚ロボットの連続跳躍

抄録

We aim to make a one-legged hopping robot hop continually by employing a neural network-based controller, which is trained through remote balancing control by humans. Although the hopping height becomes very important in achieving this objective, we couldn't make our previous robot hop sufficiently high. We had designed and built a one-legged robot with a clutch mechanism to extend its hopping time. We evaluated hopping motions of the robot through some experiments. As a result, we found that the hopping time can be greatly improved by the installed clutch mechanism. In this study, we designed and built a new robot with an electromagnetic clutch mechanism to extend its hopping time. As a result, weight was reduced approximately 30%, and we succeeded in increasing the quantity of jumps.