抄録
This paper describes the posture control of vertical jumping pattern for an one-legged jumping robot.The jumping robot is can jump from standing to landing.The jumping robot has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types.The problem using pneumatic actuator is difficult to keep the fine posture.Therefore,our target is to keep the fine posture after landing.For a vertical jump,a joint angle pattern is developed based on the linear momentum and the angular momentum.The effectiveness of the mechanism and the jumping pattern of the jumping robot areverified through simulation and experiments.
