A 3-DOF flat-foot hopping robot with a custom MINLP-optimized 3K planetary gearbox performs repetitive hops, a front flip, step-up, and push recovery, serving as an intermediate validation platform for a bipedal robot.
A new approach to the control of the planar one-legged hopper,
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Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots
A 3-DOF flat-foot hopping robot with a custom MINLP-optimized 3K planetary gearbox performs repetitive hops, a front flip, step-up, and push recovery, serving as an intermediate validation platform for a bipedal robot.