Motion control of a trampoline gymnast robot hopping motion control by estimating and sensing the trampoline reaction force

摘要

This research deals with controlling a trampoline gymnast robot. A human gymnast can execute straight-bounce (vertical hopping motion) on a trampoline without difficulty. But for the gymnast robot, it is needed to control both angular momentum and horizontal momentum simultaneously using information of reaction force from the trampoline bed. In this paper, it is shown that the reaction force can be estimated by an observer or can be measured by a newly made force sensor.