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This relationship was applicable to several types of sake mash. These results obtained here suggest that the application of a conductivity meter to evaluation of sake brewing process is feasible.

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Although legged locomotive robots are expected to be widcly applicab 正 e to various environments ， most legged robots have poor continuously dynamica艮 movement since they do not have a spring element in their leg that co ［ Tesponds to animal tendons ． Thus， we developed a one − leggcd hopping robot explicitly with a spring element and 孟 nvestigated the reration of mechatrQnic elements to thc gcnerated motion ． Through our expcr 正 mcnta ］rcsults ， we show that critical timing in motor actuat 孟 on durillg jumping and landing greatly but complicatedly in 伽 enc じs the robot 「 s hopPing height ． Key WerdS ： One − Legged Hopping Robot， Spring ， Hopping Height