Trajectory planning and control of one‐legged hopping robot at thrusting phase

Abstract

Abstract One of the most important events for hopping robots is lift‐off (the end of thrusting phase) since hopping motions often become unstable during the lift‐off. Therefore, we focus on the thrusting phase. In this research, we propose a new controller, which combines two controllers. We also propose a trajectory planning so that a hopping robot follows command value of the vertical velocity. The effectiveness of the proposed methods is confirmed by simulation and experiments. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 169(2): 29–36, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20831