Vertical Jumping Motion Control for a Bio-inspired Legged Robot

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  • Sato Ryuki
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • Ming Aiguo
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications

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Other Title
  • 生物規範機構を有する小型脚ロボットのための垂直跳躍運動制御

Abstract

<p>It is one of the challenging topics to realize agile motions like living animals with legged robots. Their variously advanced motions are achieved using their flexible musculoskeletal structures which are able to store and reuse energy effectively. In order to realize such performances by a robot, it is desirable that the robot body has energy storage and release capacity. In this paper, we develop a legged robot inspired by animals' structures using elastic components and a motion control method for the biologically inspired legged robot to achieve maximum jumping height. The robot leg consists of one elastic linkage which realizes the flexibility in the bi-articular muscle-tendon complex that plays important roles in dynamic motions of feline animals. The vertical jumping motion trajectory has been optimized to maximize the jumping height using a nonlinear optimization simulation. The jumping experiments have been performed based on the planned motion trajectory using the prototype of the legged robot, and the result shows the proposed bio-inspired mechanism contributed to its jumping performance. </p>

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