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This paper describes amethod of realizing high kinetic energy utilizing mechanical elasticity within the joint limit ranges of multiple-joint robots. By utilizing series elastic elements, a robot obtains high kinetic energy compared with a rigid robot. In this paper, we propose feedback excitation control that realizes high kinetic energy utilizing series elastic joints. Robot motion has to be kept within the joint limit range. We propose a control method based on an excitation limit hypersurface to realize robot motion within the joint limit range. The feasibility of the method was evaluated in experiments. We performed a ball throwing task as an application of the method.

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This paper describes analysis of the 1-Joint Spring-Motor Coupling System (SMCS). A system which includes series elastic elements shows vibrational responses in the velocity space, and our concept is to use the velocity peak of the system for dynamic motions such as pitching motions. By tuning parameters, we can obtain momentarily higher velocity than a system without any spring. We constructed a mathematical model of the 1-Joint SMCS and confirmed the velocity increasing effect by numerical analyses and real experiments. We also derived existence of the most effective inertia balance and the optimum spring constant. We established design criteria to utilize the effect and confirmed the criteria by experiments.

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