ジャンプとホップを合成した跳躍方法の研究

―ホッピングメカニズムの解析とハイブリッドメカニズムの設計―

抄録

In this research, we establish the difference between a “jump” and a “hop” in a spring-based jumping robot and propose a jump-hop hybrid mechanism. We initially develop and analyze a hopping mechanism, and use our findings to design a jump-hop hybrid system. The purpose of this jump-hop hybrid system is to optimize the process of overcoming obstacles for a jumping robot. By actively switching between “jumping” and “hopping” depending on the terrain, we believe that unnecessary energy usage can be avoided during jumping and landing. Both the hopping and jump-hop hybrid mechanism designs consist of springs and a single pneumatic cylinder actuator. Functions of this jump-hop hybrid system include the ability to stop, compress, and release the spring at any position, at any time, by controlling the air flow to the pneumatic cylinder.