多脚ロボットの跳躍動作のための振動を利用した脚機構の開発

―第3報，予備実験および1脚構成での動作試験―

抄録

In addition to walking, studies to add jumping function are carried out to improve the mobility on obstacles with the multi-leg robot. In this study, a mechanism to use the vibration of a weight and a spring is proposed to make up for the output of the vertical direction of the actuator which is necessary at the time of jumping. For whole structure of robot that consists of a weight, a spring and four legs, a leg mechanism with a necessary movable range is designed. Two kinds of simple models using a spring and a weight are prepared and a characteristic of vibration and the feasibility of the jump motion with the model is verified. The results are applied on an one leg robot system with a weight, a spring and actuators. Relations of the vibration of the weight for frequency of excitation is measured and resonance is observed.