Attitude control of jumping robot with bending-stretching mechanism

Abstract

This article proposes an attitude control method to stabilize the posture of a jumping robot with bending-stretching mechanism as its leg mechanism. The proposed method is based on nonlinear out-put zeroing control, and the motion of the trunk part is used to control the posture of the leg mechanism. To show the validity of the proposed method, three computer simulations have been carried out. One is to see the response to an impulse-like disturbance while the robot is stabilizing its posture, another is to see the tracking performance of the angle of the leg mechanism to the time-varying reference, and the last one is to see the ability for the angle of leg mechanism to be stabilized at the upright posture during bending-stretching motion. As the results, it is proved that the proposed method will effectively help the robot to ensure its stability in all three situations.