Publisher : The Korean Institute of Electrical Engineers
DOI : 10.5370/JEET.2006.1.2.200
Title & Authors
Analysis and Design of Jumping Robot System Using the Model Transformation Method Suh Jin-Ho; Yamakita Masaki;
This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.