抄録
Legged locomotive robots must be stabilized based on the attitude control especially when they have low stability. Paying attention to a 1-legged hopping robot that is the simplest among legged robots, some techniques such as soft landing, big jump, hopping height control, and attitude control in the air are necessary in order to realize its continuous hopping and moving. In this study, we designed and prototyped a 1-legged hopping robot with 3-DOF (1-DOF for hopping and 2-DOF for attitude control). Then, we examined its dynamical characteristics experimentally.
