Jumping Movement of Biped Robot Using Closed Link Legs and Spring Mechanism

Abstract

We describe the mechanism and attitude control of a biped robot using a spring-damper mechanism for jumping movement. To improve the movement performances of the biped robot, it is necessary to incorporate the leap period into movements such as jumping, which is also expected to further improve surmountability on irregular terrain. To obtain the instantaneous power required for jumping, the proposed robot has a spring damper on its legs. We also designed an attitude controller that stabilizes the attitude of the robot after landing from the jumping movement. The usefulness of the designed controller is demonstrated by physical simulations.