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个单足机器人。由于该机器人是三自由度串联机器人，因此在飞行阶段存在冗余。我们综合了输出调零控制，调节重心期望速度与真实的速度之间的误差。通过数值仿真，我们证明了这种控制律的有效性。为了应用这种控制律，我们开发了单足机器人的控制系统。这款3DOF单足机器人高45厘米，躯干上装有伺服放大器。总重量为10.8Kg。实验系统的信号处理由DSP完成，采样频率为100μs（100kHz）。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。最后实现了单足机器人的4cm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.