Single-Legged Hopping Based on Force Optimization

Through optimal control based on reduced-order models, realized hopping as fast as 3.8 m/s using a symmetric five-bar leg driven by BLDC motors.

By: Wei Gao, Charles Young

单足力优化跳跃

通过基于降阶模型的优化控制，实现了由直流无刷电机直驱的对称五连杆腿的3.8m/s快速跳跃。

拍摄：高纬、Charles Young