Modeling, simulation and control of pneumatic jumping robot

Abstract

The paper presents some results in development of a jumping robot. Our research is conducted into the problem of changing mechanical impedance of driving system and its influence on features of a jump. After theoretical analysis and Matlab based simulations we have built a virtual model of a planar jumping robot with pneumatic driving system. The Working Model 2D (WM2D) software was employed for this task. Our investigations are focused on the stabilization of a robot's body during flight. We present some stable jumps simulated in WM2D and controlled from Matlab. We show robustness of controller at various jumping conditions. © 2008 Springer-Verlag Berlin Heidelberg.