抄録
Since legged robot is expected to be suitable for activities in rough terrain, many studies have been focused on its motion control. In order to enhance the use of robot in human life and improve the movement speed, jumping is one of desired behaviors for robots. This study focus on the development of mechanical energy-efficient hopping robot with a spring leg and a drive control system. Applying the force to the spring leg at the robot's resonance frequency, the robot can jump by using compact actuators. In previous study, the algorithm using eccentric weight to make the robot to jump continuously have been shown. In this paper, the control method of the jump height is shown with the improved algorithm.
