549 Study of an animal inspired jump robot based on an mechanism of bi-articular muscle

摘要

Quadrupedal locomotion form changes depending on the passing speed. Locomotion form at maximum speed is called a gallop. Also, it can be considered that gallop corresponds to continuous jump. Recently, the development of the animal type robot is widely carried out. However, the quick and smooth operation represented for the jump operation is difficult in conventional animal type robots. The animal can jump easily compared with robots. It is because there is bi-articular muscle, which affects two joints simultaneously, that the robot doesn't have on animal's leg. In this study, the jump mechanism, which imitated the animal muscle arrangement, was produced experimentally.