One-legged Jumping Robot

This video demonstrates a one-legged robot which moves by repeating jumps. The motions having flight phases such as jumping or running are expected to expand the speed and stability of legged robots. A novel method of determining the Center of Mass (COM) and foot locations is proposed that is independent of the target robot actuators or assignments of joints, and suitable for building an on-line control system. Using the toe joint of the robot, the proposed method can reduce the angular velocities of the joints remarkably. This video includes an experiment to control of the direction, velocity and turning of the robot. In addition, the maximum vertical jumps which have 180[ms] flight phases are shown.