ワイヤ駆動脚ロボットによる跳躍実現のための適切なワイヤ経由点配置

抄録

Robot driven by single actuator is one of the prominent designs that realizes the lowest weight. In order to drive multiple joints, each link has via-point through which a tendon that connects with the actuator passes, and a position of the via-point influences behavior of the robot. This study deals with the jumping robot that has three joints: hip, knee, and ankle, and appropriate via-points are searched. By grouping the via-points that provide higher jumping and successful landing, we found tendency of the via-points.