１自由度直列弾性活用連続跳躍ロボットにおける着地姿勢制御

抄録

By utilizing series elastic element for the jumping motion, it becomes possible to increase the energy input time and store the kinetic energy as elastic energy. Therefore, a higher jump height can be expected. In the aerial attitude control by exerting the joint torque, repeated jumping with a small number of degree of freedom is possible. In this study, we describe the landing attitude control in a 1-DOF robot using a series elastic component by exerting the joint torque aiming at repeated jumping. we optimize the torque time series, starting from the air and performing a series of movements from landing to jumping.