Abstract
We have developed mobile robots to meet the demand for ecological observation of animals. The purpose of this research is to develop an observation robot specialized for small animals. Robots must have high mobility in forest environments. This robot moves over rough terrain using two active wheels driven by motors and can jump over obstacles by using a two-spring jumping mechanism. The jumping mechanism has a structure that can achieve jumping power even in a forest environment. By this mechanism, it has become possible to jump higher than existing robots in a forest. A spiral cam is used for the jumping mechanism. This cam is effective to achieve a long kicking distance and save space. In this paper, to improve the performance of the robot jumping mechanism, the optimal shape of the cam is examined.
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