Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
McKibben pneumatic actuator (MPA) known as one of the artificial muscles has been used as actuator of various robots because of high power density, lightness and passive characteristics like the skeletal muscles. In this paper, we focus on jumping motion as one of a dynamic locomotion of legged robot, and analyze the influence of a robot’s knee structure on the jumping motions. We propose a legged robot model that has cantilever knee, and derive equation of motion of the robot model. After confirming that the robot can jump with periodic pressure input on simulation, we analyze that how physical parameter and input parameter effect to jumping height of the robot model. From simulation results, we confirmed that structure of robot’s knee, input pressure’s frequency and phase difference effects these jumping motions and jumping heights.
