Abstract
In this paper, we consider the optimal jumping motion planning problem for a legged robot composed of one leg and the body, and examine the jumping motion obtained by numerical simulations for the purpose of clarifying the effective usage of singular configuration of the robot. The integral of the squared joint torques during jump is minimized on the assumptions that the joint torques supply a fixed amount of energy to the body and that the motion of the robot's center of mass is generated only in vertical direction. By choosing the initial posture of the robot and the spline functions representing the body position as optimization parameters, we apply a numerical optimization method to find the optimal motion. For the optimized motion,the final posture of the robot is close to the singular configuration where the robot is fully extended.
