Controllable Height Hopping of a Parallel Legged Robot

Legged robots imitating animals have become versatile and applicable in more application scenarios recent years. Most of their functions rely on powerful athletic abilities, which require the to remarkable actuator capacities controllable dynamic performance. In most experimental demonstrations, continuous hopping at a desired height is basic required motion for legged verify ability. However, limited ability balance high torque output transparency appropriate structure size same time. Therefore, our research, we developed parallel robot leg using brushless direct current motor combined with harmonic driver, without extra force or sensor feedback, uses virtual model control (VMC) realize active compliance leg, whole-leg system dynamics modeling parameter optimization vertical height. experiments, was able maintain stability during while following variable reference various ground situations.