Realization of the Rapid Movements for the Entertainment Robots by Using Two New Actuators 'Inertia Actuator' 'Cam Charger'

摘要

In this paper, we describe the realization of rapid movements for the entertainment robots by using two new actuators "Inertia Actuator" and "Cam Charger". Inertia Actuator, as an internal torque generator, is a kind of potential actuator that can generate a small internal torque by changing the speed of the rotor and a big internal torque in short time by using a brake to stop the rotor at high speed. In order to realize the jumping capability, Cam Charger mechanism is introduced to fit to the foot shape. The key idea is to charge a series strong torsion spring by using a special design of a cam in shape. First, we describe the principle of Cam Charger and Inertia Actuator. Second, in a physical simulation, we investigate the feasibility of the approach. Next, we show experimentally that a prototype of our artistic robot "Jumping Joe" includes of these two new actuators can demonstrate several rapid movements such as fast wake up, jumping and somersault.