Design of multi-DOF jumping robot

Abstract

We are researching the design and control of robots composed of multi-DOF linkages that can perform jumping motions. We call such a robot the "multi-DOF jumping robot". We take a 5 link, 4 joint serial link in a vertical plane as an example of a multi DOF jumping robot. We discuss the process to determine its design parameters from the viewpoint of realizing actual mechanical models. The design parameters include not only mechanical parameters but also motion planning parameters, because the motion condition of each joint strongly depends on motion planning. First, we show the type of jumping motion that we deal with and derive the conditions to achieve that. Then, we propose the motion planning method for jumping motions on the basis of a boundary state between ground and aerial phases. Next, we deliberate the limit characteristic of DC motors that are suitable for multi-DOF jumping robot design, and show the equations that express the limit characteristic. Then, we present one set of practical design parameters, and show simulation results of two types of jumping motions, normal jump and somersault.