Jumping patterns analysis for 1-DOF two-legged robot

In this paper, a jumping motion is considered with the goal of achieving high-speed dynamic motion for legged robots. We propose a two-step jumping pattern which makes use of the characteristic of a lightweight and fast actuator. In addition, jumping strategies based on the dynamics of the robots are presented, and the effect of structural parameter on jumping height is analyzed. Experimental results are shown in which a 1-DOF two-legged robot jumps with three patterns.