Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

Abstract

In this paper, a jumping control method is proposed as based on Virtual Model Control (VMC). The virtual force and torque acting on the trunk are used to control the jumping height, speed, and posture. VMC is used to calculate the driving torque of joints to exert the desired virtual force and torque. Each jumping cycle is divided into three states: flying in the air, landing and balance control, and thrusting. Then, a finite state machine (FSM) is adopted to switch between each jumping states. The proposed continuous jumping method is verified through dynamic simulations whose results are discussed also to characterize the jumping performance.