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.