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JRM Vol.18 No.3 pp. 333-339
doi: 10.20965/jrm.2006.p0333
(2006)

Paper:

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

Received:
April 12, 2005
Accepted:
December 20, 2005
Published:
June 20, 2006
Keywords:
jumping robot, motor based actuation, dimensional analysis, jump ratio
Abstract

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.

Cite this article as:
Mitsuru Higashimori, Idaku Ishii, and Makoto Kaneko, “Non-Dimensional Analysis Based Design on Tracing Type Legged Robots,” J. Robot. Mechatron., Vol.18, No.3, pp. 333-339, 2006.
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Last updated on Mar. 05, 2021