弾性要素を有する多リンクロボットにおける先端リンクの瞬間的な高運動エネルギ状態の創出

―平面2リンクロボットでの運動パターン生成―

抄録

The purpose of our research is to improve robot motion ability without depending on only actuator power by effectively exploiting the body dynamics of the robot. In this paper, we focused on swing motion. The prime purpose in swing motion is to increase the kinetic energy of the end-link. In this paper, using a two-link planar robot with an elastic element (non-linear spring), we proposed a method to generate robot motion for the explosive increase of the kinetic energy in the end-link by exploiting the body dynamics of the robot. The results of simulation experiments showed the explosive increase of the kinetic energy in the end-link by exploiting the body dynamics.