ウンカ幼体の股関節構造に着想を得た小型ジャンプロボットの開発

抄録

We develop a small jump robot that mimics a unique joint of some small creatures. Issus coleoptratus nymphs have a gear-like mechanism on the hip joint to synchronize the rapid leg motion for stable jump and snapping shrimps can close their claw instantaneously because of the energy storage function of the claw joint structure. We adopt these principles of motion generation. Moreover, to enhance the performance, we employ an additional spring-latch mechanism and a structural elastic leg. Integrating these ideas, we first design a simple jumping mechanism and then install an actuator and battery for releasing the latch. The experimental results show that the developed jump mechanism jumps up to about 270 cm with maintaining posture. Also, the jump robot equipped with the actuator performs the jump of 135 cm, which means that the robot achieves a compatible takeoff speed with the best record of Issus coleoptratus nymphs.