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