Jumping commands for flexible-legged robots

摘要

Under certain conditions, hopping, skipping, or jumping might be a more efficient means of terrestrial locomotion than either walking or rolling. In addition, for many robotic applications, a robust jumping algorithm could be easier to implement than walking. Jumping also provides a means to cross obstacles that might otherwise stop a wheeled or walking robot. This paper will examine a special case of jumping and generation of jumping commands. A simplified flexible robotic leg is modeled and jumping commands are generated utilizing a command shaping algorithm.