Yuanhao Bao

Single-leg hopping robot with coupled oblique inertial rotors for simultaneous midair attitude and foot placement control

In this paper, we propose a single-leg hopping robot that can continuously hop to specified target locations on a planar surface while regulating its body attitude in three directions. The robot is driven by only four actuators, including a linear leg actuator that compresses a spring to generate hopping motion, a hip...