主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
A one-legged jumping robot that can mimic the muscular and skeletal system of a human leg is described in this paper. Its height is 1200 [mm], and its total weight is about 9.0 [kg]. The robot is composed of a waist, a thigh, a shin, a foot, and a toe. It has 6 DOFs in total, including 2 DOFs in the hip, 1 DOF in the knee, 2 DOFs in the ankle, and 1 DOF in the toe. Also, a jumping pattern generation algorithm based on the dynamic model of the jumping robot is proposed. The jumping pattern is created generated considering the output ratio of pneumatic actuators and the characteristics of air supply and exhaust. The effectiveness of air supply-exhaust pattern generation algorithm is verified through a jumping experiment.
