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

Table 1

Sensors used in the robot.

Name	Measurement range	Output signal	Repeat accuracy	Working power
Pressure sensor PSE510	[0, 1] MPa	[0, 5] V	±0.3% (F.S.)	DC 24 V
Potentiometer WDD22A 10K	[0, 360°]	[0, 5] V	±0.5% (F.S.)	DC 5 V
Force sensor XH32	[−200, 200] kg	[−5, 5] V	±0.5% (F.S.)	DC 5 V