Optimal high-jump control of linear 1-d.o.f trampoline robot

摘要

This paper presents development and high-jump control of a trampoline robot via hybrid optimal control approach. We show an efficient modeling method based on a linear complementarity system framework, and propose a differential dynamic programming based algorithm to solve the high-jump control problem by using the Sussmann's maximum principle (1999). Experimental results match to numerical results quite well.