The design and control of an untethered, energetically autonomous hopping robot.

LEAP Robot

<p>The thrust-producing mechanism of the robot’s leg is an actuated prismatic joint, called a linear elastic actuator in parallel (LEAP). The LEAP mechanism comprises a voice coil actuator in parallel with two compression springs, which gives our robot passive compliance. An actuated gimbal hip joint is realized by two standard servomotors. To control the robot, the team adapted Raibert’s hopping controller, and find they can maintain balance roughly in place for up to approx. 7 seconds (19 hops) while continuously hopping. </p>

Provides a hardware description of the robot, details the method to estimate center-of-mass velocity, and presents the locomotion controller. Gives an overview of the simulation environment and optimized controller, and presents the results of a physical experiment. Lastly, the results are discussed

Untethered One-Legged Hopping in 3D Using Linear Elastic Actuator in Parallel (LEAP).

Servomotors	

Thigh link mass	

Sensor	

Foot link mass	

Torso link mass	

Power

Microcontroller

IMU sensor

Servomotors

The design and control of an untethered, energetically autonomous single-legged hopping robot.



Servomotors	Dynamixel MX-64T
Thigh link mass	0.31	kg
Sensor	Xsens MTi-3- 8A7G6-DK
Foot link mass	0.23	kg
Torso link mass	1.41	kg
Power	7	11.1V 1300mAh LiPo batteries