著者

三橋 邦宏 高木 渉

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.2007, pp._2A2-G05_1-_2A2-G05_3, 2007

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One leg with an ankle joint, a knee joint, and a hip joint was made, and the wire rolling-up type actuator which inserted the spring in series was attached to the knee joint. The relation between joint angular acceleration and a jump was analyzed, and it was shown that rotation of an ankle enlarges jump height. As a result of the experiment, in the time of the second half when a leg is extended, the spring generated large power and it turned out that this power makes a jump possible.