Development of Biomimetic Actuators for Jumping and Dancing Robots

(An O-ring tensile tendon structure and success of applying landing energy at re-jumping)

Abstract

We have been developing motor-tendon-joint series connection type biomimetic actuators to make robots act jumping, running and dancing. In this paper, in order to use the tendon structure effectively, we designed new tendon structure In order to increase the energy recovery rate, we investigated effects of shape of the tendon structure. We found the matching of the natural frequency of the tendon rubber jumping timing was important.