Balance and control of human inspired jumping robot

Abstract

The purpose of this study is to describe the necessary conditions for the motion controller of a humanoid robot to perform the vertical jump. We performed vertical jump simulations using three different control algorithms and showed the effects of each algorithmon the vertical jump performance. We showed that motion controllers which consider one of two conditions separately are not appropriate to control the vertical jump. We demonstrated that the motion controller has to satisfy both conditions simultaneously in order to achieve a desired vertical jump.