Abstract
A novel construction of planar one-legged robot is proposed, which, unlike previous one-legged robot with springy legs, consists of three revolute joints, two links and two feet. On some conditions, it can be modeled as a two-degree-of-freedom manipulator. Inspired by our observation of a jumping frog, we design a cyclic gait for this one-legged robot. The gait is divided into four phases. During takeoff only two phases are actively controlled and exerted on the knee joint. The trajectory planning of the four phases is formalised as a problem of optimization subject to several constraints, including the ZMP constraint.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
