Non-Dimensional Analysis Based Design on Tracing Type Legged Robots
Mitsuru Higashimori, Idaku Ishii, and Makoto Kaneko
Graduate School of Engineering, Hiroshima University, 4-1 Kagamiyama 1-Chome, Higashi-Hiroshima 739-8527, Japan
We discuss the optimum design issue for tracing type legged robots in the sense that it can jump as high as possible. By applying dimensional analysis techniques, we introduce four non-dimensional parameters that control the jump ratio (=h/l ) for a tracing type jumping robot. An interesting observation is that there exists the optimum design point where the jump ratio becomes maximum. Through experiments, we found that the robot with the optimum design specification can achieve the jump ratio of 3.6, while the jump ratio decreases for other design points. This paper is the full translation from the transactions of JSME Series C, Vol.71, No.704, 2005.
-  E. Nakano, and H. Okubo, “Jumping Machines,” Journal of the Robotics Society of Japan, Vol.11, No.3, pp. 342-347, 1993 (In Japanese).
-  M. H. Raibert, H. B. Brown, Jr., and M. Chepponis, “Experiments in Balance with a 3D One-Legged Hopping Machine,” The Int. Journal of Robotics Research, Vol.3, No.2, pp. 75-92, 1984.
-  H. Okubo, E. Nakano, and H. Kimura, “Design of Jumping Machine using Spring and Actuators,” Journal of the Robotics Society of Japan, Vol.10, No.7, pp. 948-954, 1992 (In Japanese).
-  H. Okubo, M. Handa, and E. Nakano, “Design of a Jumping Machine using Self-energizing Spring –Jumping by Small Actuators–,” Journal of the Robotics Society of Japan, Vol.16, No.5, pp. 633-639, 1998 (In Japanese).
-  K. Arikawa, and T. Mita, “Design of Multi-DOF Jumping Robot,” IEEE Proc. of Int. Conf. on Robotics and Automation, pp. 3992-3997, 2002.
-  T. J. Pedley, “Scale Effect in Animal Locomotion,” Academic Press, p. 93, 1977.
-  M. Kaneko, S. Tachi, K. Tanie, and M. Abe, “Basic Study on Similarity in Walking Machine from a Point of Energetic Efficiency,” IEEE Journal of Robotics and Automation, Vol.RA-3, No.1, pp. 19-30, 1987.
-  A. A. Gukhman, “Introduction to the Theory of Similarity,” New York, Academic, 1965.
-  A. Namiki, Y. Imai, M. Ishikawa, and M. Kaneko, “Development of a High-speed Multifingered Hand System and Its Application to Catching,” In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2666-2669, 2003.
-  http://www.hds.co.jp/HDS_hp_english/english/index.html
Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.