Simulation study on stabilization of a spring-loaded robotic leg using state feedback

摘要

This paper presents a novel type jumping robot using bi-articular spring and a mono-articular electric motor, JUMPBiE. The system design is based on the concept of the mono-bi configuration which can effectively reduce the number of actuators and thus cost, retaining the characteristics of bi-articular actuators such as high compliance, stabilization, accuracy, and homogeneity of motion. By showing extensive jumping control of JUMPBiE, it proves the feasibility of the proposed system configuration and provides in-depth insights on under-actuated bi-articular actuation. The background of the robot design and its modeling were elaborated, and discussed with relevant simulation results.