著者

三橋 邦宏 上牟田 千尋 岡 富士男

出版者

公益社団法人 日本マリンエンジニアリング学会

雑誌

日本舶用機関学会誌 (ISSN:03883051)

巻号頁・発行日

vol.24, no.10, pp.465a-468, 1989-10-01 (Released:2010-05-31)

参考文献数

4

著者

三橋 邦宏 高木 渉 近藤 将弘

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.2008, pp._2A1-H13_1-_2A1-H13_4, 2008

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A floor-reaction-force measurement base and joint angle measurement links were created, and man's joint angles and floor reaction forces in a jump were measured. These measured data were inputted into the numerical model of a hopping robot which has a wire rolling-up actuator which attached a spring in series in a wire, and the spring constant which makes a motion of an actuator small was presumed. The motions of a wire rolling-up actuator in consideration of the effect of this spring were approximated by sinusoidal wave forms, and the simulations of man's jumps were carried out. As a result, it was shown that energy of the motor for a jump can be made small to 40% - 60% with a spring as compared with energy without a spring.

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.