(1) Concept of Intelligent Mechanical Design for Autonomous Mobile Robots 
(2) Realization of Rapid Movement for Legged Entertainment Robots Using 
Two New Actuators, the Inertia Actuator and the Cam Charger

(1)
In this paper, the concept of "intelligent mechanical design" is presented 
to show how a mechanical structure can be designed to affect robot controllability, 
simplification and task performance. Exploring this concept produces landmarks 
in the territory of mechanical robot design in the form of seven design principles. 
The design principles, which we call the "Mecha-telligence” principles, provide 
guidance on how to design mechanics for autonomous mobile robots. These principles 
guide us to ask the right questions when investigating issues concerning autonomous, 
reliable, feasible, and compatible mechanics for autonomous mobile robots. To show 
how Mecha-telligence principles can be applied in the design process we propose a 
novel methodology, we name this the Mecha-telligence methodology. Mechanical design 
in the proposed methodology is based on preference classification of the robot 
specification described by interaction of the robot with its environment and the 
physical parameters of the robot mechatronics. After defining new terms, we 
nvestigate the feasibility of the proposed methodology by applying it to the 
mechanical design of an autonomous mobile sewer inspection robot. In this industrial 
project we show how a passive-active intelligent moving mechanism can be designed 
using the Mecha-telligent methodology and employed in the field.

(2)
We discuss the realization of rapid movement for legged entertainment robots using 
two new actuators, the Inertia Actuator and the Cam Charger. As an internal torque 
generator, the Inertia Actuator generates small internal torque by changing the rotor 
speed and large internal torque quickly by using a brake to stop the rotor at high 
speed. To realize jumping, we introduce the Cam Charger to fit to the robot foot. The 
key is to charge a series of strong torsion springs using a special by shaped cam. 
After detailing of Cam Charger and Inertia Actuator principles, we evaluate the 
feasibility of our approach through simulation. We show experimentally that our artistic 
"Jumping Joe" robot prototype including these two actuators demonstrates rapid movements 
such as fast wakeup, jumping, and somersaults.