Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

Figure 8

Robot jumping experiment.

(a) Initial state

(b) State after posture adjustment

(c) Jumping phase (feet coincide with the ground)

(d) Jumping phase (heel leaves off the ground)

(e) Flying phase

(f) Landing I phase

(g) Landing II phase

(h) Landing III phase

(i) Complete state