Vertical Jumping Motion of One-Legged Jumping Robot with Pneumatic Actuators

摘要

This paper describes the mathematical modeling for jumping motion of a one-legged jumping robot that consist of a hip, a knee and an ankle. The jumping robot has six mono-articular muscles mounted antagonistically in pairs across two joint and three bi-articular muscles mounted across each joint. Moreover, the vertical jumping of the robot has three phases such as a stance phase, a lift-off phase, and a flight phase. It is difficult to obtain the output of each actuator because each joint torque is produced by plural pneumatic actuators. Thus, a method converting the reference torques into the output of each actuator is developed. Vertical jumping simulations are conducted, and the effectiveness of the mathematical modeling is verified.