Jumping motion experiments on a NAO robot with elastic devices

This paper describes a realization method of jumping on a humanoid robot with elastic devices. The purpose of this research is to enable a low-power humanoid robot to jump by utilizing elasticity. We have designed elastic devices for jumping with consideration of performance of the robot´s actuators. The humanoid robot can store elastic energy in the spring by vibrating the spring with resonance frequency. Finally, the low-power humanoid robot could have temporarily higher energy than a humanoid robot which doesn´t have the elastic devices. We have achieved jumping on NAO.