Development of a Self-Excited Hopping Robot with Eccentric Weights

Daisuke Kaji ； Jin Tanaka ； Bai Yun ； Yasutaka Tagawa

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 188-193

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.039

並列摘要

Jumping behavior is desired for legged robots in order to achieve fast movement. A lightweight body and a high-output actuator are required to jump from the ground. The present study focuses on the development of a mechanical energy-efficient hopping robot with a spring leg and a drive control system. Applying the force to the spring leg at the resonance frequency of the robot, the robot can start jumping by using eccentric weights as compact actuators. In contrast, the robot can stop jumping by inverting the phase of the actuator motion. Adjustment of the actuator oscillation amplitude enables jumping height control. In the present paper, algorithms that allow the robot to jump continuously, control its apex height, and attenuate hopping and vibration are presented. The effectiveness of these algorithms is confirmed through simulations and experiments using an actual robot.

並列關鍵字

Hopping robot ； Resonance frequency ； Eccentric weight