多脚ロボットの跳躍のための振動を利用した脚機構の開発

―一脚試験機と加振装置による特性評価―

抄録

Recently, many multilegged robots that can move dynamically like animals are developed. In order to realize jumping motion by a multilegged robot, because the behavior depends on the maximum power, high-speed rotation and high torque actuators are required. Therefore, a leg mechanism which can obtain high output power using spring elements and vibration for supporting actuator is proposed. An experimental apparatus that consists of a single leg mechanism equipped with a torsion spring around its joint axis and a vibrator mechanism utilizing inertial force by rotating eccentric weight is designed and developed. The resonance angular frequency of the system is estimated and the behavior of the mechanism against the vibration is shown.