Realization of Rapid Movement for Legged Entertainment Robots Using Two New Actuators, the Inertia Actuator and the Cam Charger

摘要

We discuss the realization of rapid movement for legged entertainment robots using two new actuators, the Inertia Actuator and the Cam Charger. As an internal torque generator, the Inertia Actuator generates small internal torque by changing the rotor speed and large internal torque quickly by using a brake to stop the rotor at high speed. To realize jumping, we introduce the Cam Charger to fit to the robot foot. The key is to charge a series of strong torsion springs using a specially shaped cam. After detailing of the Cam Charger and the Inertia Actuator principles, we evaluate the feasibility of our approach through simulation. We show experimentally that our artistic "Jumping Joe" robot prototype including these two actuators demonstrates rapid movements such as fast wakeup, jumping, and somersaults.