Optimal motion planning of a one-legged hopping robot

The optimal motion planning and stable jumping control for a new one-legged hopping robot are investigated. The new robot has one passive telescopic leg and two actuated arms, therefore an underactuated mechanical system of which the motion can only be controlled by the internal dynamic coupling. The features of the dynamic coupling between the passive leg and the actuated arms are analyzed through measuring two proposed indices. An optimal motion planning algorithm is introduced for maximizing energy efficiency of the motion of the robot. The feasibility of the optimal motion-planning algorithm is verified by some numerical simulations in which varying height and varying moving speed are considered.