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One-leg jumping with virtual spring principle

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2 Author(s)
Atsuo Kawamura ; Yokohama National University, Japan ; Chi Zhu

One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved with our developed biped robot MARI-3.

Published in:

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

Date of Conference:

1-3 Dec. 2008