Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion

Elasticity is an important factor in enhancing the physical capabilities of robots. Pole vaulting is an interesting task because a large elastic pole changes the trajectory of the robot drastically. Moreover, the robot can change its behavior by manipulating the flexible pole during a long pole-support phase. In this study, we investigated how the reaching point of pole vaulting was changed by an active bending motion because it is important for robots to move to the desired place. To examine the effect of motion, we used a multiple pendulum model and a robot having dual articulated arms with grippers. Simulation results showed that reaching positions were changed by the switching time of the active bending motion. A relatively late switching time allowed robots to vault to a farther position. However, a very late switching time had the opposite effect. Then, we developed a pole vaulting robot having dual articulated arms with grippers for the application of humanoid robots. Pole vaulting experiments using this robot showed the same tendency in the simulation. These results indicated that the reaching position of pole vaulting could be controlled by the switching time of active bending. Further, the robot reached a height of 1.67 m by releasing the pole.