Vertical Jump Control of Hydraulic Single Legged Robot (HSLR)

摘要

This paper presents a vertical jumping trajectory planning and landing buffer control methods that enable a hydraulic driven single legged robot to execute load-bearing take-off and stable landing motions. After a brief description of the robot, the kinematics and dynamics models of HSLR are established based on the actual structure of the robot. Then the paper describes the details of jumping trajectory planning method based on spring loaded inverted pendulum (SLIP) model, which can realize vertical jump control with a desired height. Moreover, landing buffer strategy based on single legged virtual model is presented to protect robots from the impact damage. Finally, the experimental results show that the proposed method for HSLR can achieve vertical jump to 0.2m as well as a stable landing buffer performance.