Realization of Postural Stability and Continuous Motion of a Rope-Hopping Robot

摘要

We have developed a robot emulating human's rope-hopping motion. In the previous paper, we reported the successful development of a robot that can achieve a single rope-hopping motion with postural stability. In order to achieve a continuous rope-hopping motion, we propose a compensation control rule in this paper, which can cancel the impact torque at the moment the robot lands on the floor and can also eliminate influences of the external disturbance on the body and rope. It is experimentally demonstrated that the proposed control rule is highly effective for achieving the continuous rope-hopping motion of the robot.