Abstract
In this paper, a novel control method of posture stabilization for a one-legged hopping robot is proposed. We have developed the one-legged robot with hip, knee and ankle joints. This robot has a characteristic that each joint of the leg is wire-driven by a motor mounted on the body. In order to achieve a stable jumping, we adopted the virtual leg with the pivot at COG of the robot. Instead of controlling the angle of each joint, the length and the swing angle of the virtual leg. The length of the virtual leg is used for the jumping control, while the swing angle and ankle joint are used for the posture control. We formulated the posture control of one-legged robot as a periodic discrete time system and the feedback gain is obtained by a solving periodic LQR problem. Effectiveness of the proposed method is shown by a simulation.
