Motion control of a jumping machine using self-energizing spring in jumping phase

摘要

A jumping machine with a self-energizing spring system is designed to jump using small actuators and springs. Power for the self-energizing system is generated using small actuators. And it can jump. The machine can jump or increase the jumping height in jumping phase when the motion is reasonable. The motion control trajectory of the angle of body link is introduced in this paper. Computer simulations and experiment are performed to prove the validity of the concept of jumping method by means of the self-energizing system.