抄録
Hopping robots attract attentions for social utilization of humanoid robots. Constant-height hopping based on energy was researched by some researchers. The conventional method dealt with energy as an implicit variables, and position, velocity, or force are the main control variables. On the other hand, the approach of this paper is controlling mechanical energy directly while position, velocity, and force are parameters. The proposed method does riot require solving partial differential equations compared to the conventional method. Control of mechanical energy is conducted by feedbacked P controller. The validity of the proposed method is confirmed by experiments in a vertical linear motor. The desired hopping height is realized from the first hop.
