Realization of humanoid type multi-degree of freedom jumping robot

在本研究中，我们首先设计并制作了一台独脚式机器人。由于该机器人为三自由度串联机器人，在飞行阶段存在冗余度。综合输出调零控制，调节期望重心速度与实际速度之间的误差。通过数值仿真，验证了该控制律的有效性。为了应用该控制律，我们开发了单足机器人的控制系统。这个3自由度的单足机器人身高45厘米，躯干上有伺服放大器。总重量为10.8公斤。本实验系统的信号处理由数字信号处理器完成，采样频率为100μS(100 KHz)。为了克服欠驱动和非完整控制问题，我们发展了被动速度场控制。最终实现了单足机器人的4 cm高度跳跃。

In this study, we first designed and made a monopod robot. Since this robot is 3 DOF and serial link robot, there is a redundancy in the flying phase. We synthesized output zeroing control which regulates the error between desired velocity of center of gravity and real velocity. By numerical simulation we demonstrate the usefulness of this control law. In order to apply this control law we developed the control system of the monopod robot. This 3DOF monopod robot is 45cm height and has servo amp on the torso. Total weight is 10.8Kg. Signal processing of this experimental system is carried out by DSP with 100μs (100kHz) sampling. In order to overcome the underactuated and nonholonomic control problems, we developed the passive velocity field control. Finally we attained 4 cm height jumping of the monopod robot.