Abstract
This paper deals with an optimal jumping motion of a four-link legged robot that minimizes the necessary joint torques during the motion. A fixed amount of translational energy is supplied to the robot from joint torques by the take-off time when the foot leaves the ground, and the rotations of joints are stopped in the air by the time when the robot reaches the maximum height with the joints fully extended. Numerical optimization results for different take-off postures show that the take-off posture that is close to a singular configuration has an advantage in supplying translational energy efficiently in ground phase, and is also useful for reducing the rotational energy that has to be eliminated in aerial phase.
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Recommended by Guest Editor Joo-Ho Choi
Xianglong Wan is a doctoral student at Kobe University in Kobe, Japan. His research interests are in nonlinear systems and the singular configuration in robotics.
Takateru Urakubo received the B.E., M.E., and D.E. degrees in aeronautics and astronautics from Kyoto University in 1996, 1998 and 2001, respectively. He is currently an Assistant Professor in the Department of Systems Science, Kobe University. His research interests include nonlinear dynamical systems, nonlinear control theory, and autonomous robots.
Yukio Tada received his Ph.D. Degree in Engineering from Osaka University, Japan. He is a Professor at Department of Systems Science, Graduate School of System Informatics, Kobe University, Japan. His main research subjects are Structural Optimization, System Engineering and Biomechanics.
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Wan, X., Urakubo, T. & Tada, Y. Optimization of jumping motion of a legged robot for different take-off postures. J Mech Sci Technol 29, 1391–1397 (2015). https://doi.org/10.1007/s12206-015-0309-5
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DOI: https://doi.org/10.1007/s12206-015-0309-5