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Title
Japanese: 
English:Vertical Jumping Motion Control for 4-link Robot 
Author
Japanese: 加藤 大地, 関口 和真, 三平 満司.  
English: Daichi Kato, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of SICE Annual Conference 2011 
Volume, Number, Page         pp. 550-555
Published date Sept. 13, 2011 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2011 
Conference site
Japanese:東京 
English:Tokyo 
Abstract 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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