2A1-D02 ゴムを利用したパンタグラフ型跳躍ロボット(フレキシブルロボット・メカニズム)

Abstract

In this paper, we propose a jumping robot by an active pantograph with a rubber as an energy storage. The proposed robot has the repeated jumping capability to jump on the desk repeatedly. The proposed robot is based on the mechanism which consists of a rubber which has high energy storage capacity per unit mass, only one motor and some generic mechatronics elements. We show that the robot with the weight of 0.127[kg] can reach up to the height of 1.3[m] by jumping twice.