Design and motion planning of hydraulically driven leg for maximum height jumping

Abstract This paper presents an optimized design and motion planning method of a hydraulically driven leg for jumping. The knee joint range was enlarged, and the desired torque profile was achieved using a four-bar linkage. The dynamics of the robot were considered during the motion planning, and the optimal trajectory was obtained by linear programming. Simulations and experiments showed that the leg could jump 1 m under a load of 50 kg.