| Summary: | 碩士 === 國立清華大學 === 動力機械工程學系 === 99 === In this paper, the principle of one-legged, articulated hopping robot is based on the human jumping motion and Segway’s dynamics. The robot with the flat-shaped foot can stably hop by planning the control objectives through the hopping process. Different from most of the trajectory-planning robots, our robot’s jumping strategy is built on maintaining the balance of the robot itself, and hopping is just derived from the dynamics, so we expect that the robot’s jumping motion will get closer to human dynamics. In simulations, before taking off, the robot has a special feature, that it goes through an underactuated phase in which the foot rotates around the unactuated toe on the ground. By this underactuated phase, the robot can perform stable human-like hops with longer hopping distance. Additionally, we implemented a sensor fusion method to combine an accelerometer and a gyroscope into a wide bandwidth angle sensor as the control input. In conclusion, the result shows that the robot can achieve a stable underactuated jumping by our jumping strategy.
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