Trajectory planning and control of one‐legged hopping robot at thrusting phase

Abstract

One of the most important events for hopping robots is lift-off (the end of thrusting phase) since hopping motions often become unstable during the lift-off. Therefore, we focus on the thrusting phase. In this research, we propose a new controller, which combines two controllers. We also propose a trajectory planning so that a hopping robot follows command value of the vertical velocity. The effectiveness of the proposed methods is confirmed by simulation and experiments.