Abstract
In jumping motions of humans, swings of arms and counter movements of legs are essential. In this paper, the swing of arms is focused. A pendulum type jumping machine is considered to model the swing of arms, which consists of two articulated links and a joint actuator, and a jumping motion with the swing of the second link is performed. The possibility of a soft landing with the swing of the second link is also investigated. A control scheme for the soft landing of the pendulum-type jumping machine is proposed, and several experiments of posture control for the soft landing demonstrate the feasibility of the control scheme.
