A pendulum-type jumping machine utilizing human's swing

摘要

In jumping motions of humans, swings of arms and counter movements of legs are essential. In this paper, the swing of arms is focused. A pendulum-type jumping machine is considered to model the swing of arms, which consists of two articulated links and a joint actuator, and a jumping motion with the swing of the second link is performed. The possibility of a soft landing with the swing of the second link is also investigated. A control scheme for the soft landing of the pendulum-type jumping machine is proposed, and several experiments of posture control for the soft landing demonstrate the feasibility of the control scheme.