A control experiment of vertical jumping motion with 4links Robot

摘要

This paper presents a control experiment of a vertical jumping motion with 4links Robot. A target system consists of four links and three actuators placed on each joint between the links. This system is fullactuated at the initial step, but as the physical constraint varies in a process of a jumping motion, the system comes to be underactuated. With the control strategy overcoming these difficulties, we conduct experiments with 4links Robot and show the experimental results.