著者

田中 崇裕 広瀬 茂男

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2006, pp._1A1-D28_1-_1A1-D28_4, 2006

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In this paper we explain the design of leg-wheeled hybrid jumping robot. First, we developed a light-weight and compact actuator, piston-wire mechanism. Using this mechanism, we achieved the high-speed movement of the leg. Then, the relationship between the jumping height and the motor position is considerd, and the effective design of leg-wheeled mechanism for jumping emerged. In addition, we developed a transmission mechanism inside of the leg frame. Finally, using the light-weight leg-wheeled mechanism, we experiment in wheel drive jumping.