This paper proposes a control strategy to achieve jumping motion by kicking the ground backward with a tiptoe for an underactuated planar robot. The model in this work consists of 4 links and is controlled by input-output linearization and output zeroing control. One output function is designed based on the virtual constraint on the unactuated joint. This leads to the remaining unstable zero dynamics when the output zeroing is achieved. Vertical jumping motion is accomplished designing the other output functions to synchronize the angles with the zero dynamics. The controller is verified through numerical simulations.
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