Monopod Hopping Robot

This prototype robotic leg, designed and constructed at The Ohio State University, is used to investigate the control of dynamic maneuvers in legged robots. Here, the motion is constrained to be vertical, and the leg executes 15 consecutive hops. The hip is directly driven by a brushless DC motor, while a series-elastic actuator (also including a brushless DC motor) is used to control the knee joint. The use of a series-elastic actuator at the knee enables the leg to deliver greater thrust, thus achieving a higher jump.

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• monopod
• hopping
• robot