Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
In this paper, we verified the proposed method to increase the maximum foot height during the jumping phase of a leg-wheeled robot with a series elastic actuator at the knee by using a legged robot. That is achieved by matching the peak of the parabolic trajectory of the center of mass of the robot with the peak of the spring of the series elastic actuator’s vibration. In the leg-wheeled robot using a series elastic actuator, it is important to utilize the spring to increase the jumping height. It is imperative to match the peak of the center of gravity parabola and the peak of the foot vibration as matchly as possible to increase the maximum foot height. We reduced the peak-to-peak time to 40 ms for a spring vibration period of 140 ms. The peak-to-peak time were almost matched.
