Feedback Linearization of Inertially Actuated Jumping Robots

Inertially Actuated Jumping Robots (IAJR) provide a promising new means of locomotion. The difficulty IAJR is found in the hybrid nature ground contact/flying dynamics. Recent research studies our Systems Lab have provided family tree inertially actuated locomotion systems. proposed Tapping Robot most prompt member this tree. In paper, feedback linearization controller introduced to controllability given 3-dimensional motion complexity. objective create general that can regulate Robots. expected results specify desired speed and/or jump height, and ensures values are achieved. achieve greatest response for Basketball at maximum height 0.25 m, which greater than former performance with approximately 0.18 m. design paradigm used on was extended Robot. achieved stable average forward velocity 0.0773 m/s simulation 0.157 experimental results, faster robot, Pony III, 0.045 m/s.