A Study on Jumping Motion of a Legged Robot with Efficient Energy Supply near Singular Configuration

摘要

This paper investigates the optimal jumping motion of a legged robot composed of one leg and a body by numerical simulations in order to demonstrate an effective use of singular configurations. The time integral of joint torques by the time when the toe takes off the ground is minimized under the condition that the torques supply a fixed amount of energy to the body. The vertical position of the body is parameterized by piecewise 5th order spline functions of time, and the parameters of spline functions and the initial posture of the robot are obtained through numerical optimization.For the optimized motion, the final posture is close to the singular configuration where the leg is fully extended.We discuss that the joint torques can generate energy efficiently near the singular configuration.