Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Since high-powered actuators are required for the jumping motion of multi-legged robots, a method that uses the energy of a spring in addition to the output of the actuator has been proposed. In this study, we investigate the control system of a leg mechanism of a robot with a spring element using the energy generated by the vibration of a spring and verify by simulations. Using a simulator, we confirmed that resonance occurred when a single-legged robot with a spring and a weight was excited at a natural frequency. In the actual machine, a feedback loop of the angle of each joint was configured for jumping and vibration. In addition, a leg position control system based on the inverse kinematics calculation was developed and the excitation trajectory was formulated. These were applied on a real machine, and the jumping motion and the trajectory following the excitation were confirmed.
