This paper describes a control strategy for a vertical jumping motion of 4-link robot. The target system which consists of 4-link and 3-actuator is a model of a human body. This system is underactuate, and constraints of the system are variable in the process of jumping. In this paper, the control strategy which overcomes the difficulties is proposed. Additionally, by comparing a vertical jumping motion of human, the proposed control realizes a humanlike vertical jumping.
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