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• [P1023] Design Principle of Two Mass Jumping System
  Author(s): Yuya Nishida, Takashi Sonoda, Kazuo Ishii
  
  

  Abstract
  In our prvious research, We developed the jumping legged robot to extend the activities of a mobile robot. The velocity of a jumping robot in two-mass system is changed due to each mass in between immediately before and after jumping. It is difficult to estimate performance of actuator to obtain target jumping performance, because each mass are unknown. On the other hand, it is known that relative proportion of the body for the size follows elastic similarity law in animals. The mass of animals is changed due to the change of the size, because animals should keep safety and robustness. Thus, the mass of animals can be estimated in between animals which follow the elastic similarity law, considering the strength of the body. The estimation method also can be used in design of the jumping robot. In this research, jumping robot in two-mass system follows elastic similarity law is shown. And the mass of the robot and performance of actuator is estimated.

  
   

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