Trajectory planning and control for hopping robot at the stance phase

Robot hop provide an effective solution to overcome obstacles and perform locomotion in a rough and unstructured terrain. In this paper, a method is proposed for trajectory planning of hopping robots utilizing a hopping model with three centers of mass (CoMs). Firstly, a planar robot model with articulated legs is presented, and corresponding dynamics are derived. Secondly, we discuss a ZMP (Zero moment point)-based trajectory planning for hopping robots at the stance phase. Thirdly, a fuzzy control system is developed to track the generated ZMP trajectory and realize stable hopping motion. The purpose of this study is to provide an approach to generate hopping pattern at stance phase and control it. The effectiveness of the proposed model and control scheme is verified through the simulation and experiments.