Vertical jumping control of an Acrobat Robot with consideration of input timing

Abstract

For an Acrobat Robot which is a small humanoid robot, our purpose is to make it jump vertically toward a horizontal bar. In order to realize efficient jump, it is important to set a step input timing according to the response of the input by PD control. This validity is confirmed by a simulation with simplified 3 link model and an experiment using Acrobat Robot.