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.

中文翻译：

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液压驱动腿的设计和运动计划，以实现最大高度跳跃

本文提出了一种用于跳跃的液压驱动腿的优化设计和运动计划方法。扩大膝关节的范围，并使用四连杆机构实现所需的扭矩曲线。在运动计划中考虑了机器人的动力学特性，并通过线性编程获得了最佳轨迹。仿真和实验表明，该腿在50 kg的载荷下可能会跳1 m。