跳躍・舞踏ロボット用Ｏリング腱構造付アクチュエータの開発

(再跳躍時の落下衝撃エネルギ利用に与える着地時膝角度の影響)

抄録

We have been developing motor-tendon-joint series connection type biomimetic actuators to make robots act jumping, running and dancing. To that purpose, we are now developing an actuator with O-ring tensile tendon structure for jumping and dancing robot. In the previous paper, we are succeeding to apply the energy of landing shock to the next jumping in the shallow knee angle area. In this paper, we investigated what is important to apply landing shock to the in order to use the tendon structure effectively. Based on the real jumping results and simulation, we found that the knee angle at the landing dominate the jumping mode. The jumping mode can be divided into four mode. In the knee angle around 132deg., the timing of the kicking for the next jumping is matched and the jumping height of the next jumping increases 160% of the first jumping. This angle is not changed by the rigidity of the O-ring tendon in the area that can be jumped using landing shock.