Control strategy for planar vertical jump

In this paper we will present a new - application oriented - control method for the biped jump. We shall be restricting our study to the vertical jump with both feet together and legs placed exactly side by side, and with the robot moving in the sagittal plane. The control method is based on the sliding mode technique. We will end up with a simple control law which impose the trajectory following for the distance between the foot and the total center of mass and which maintains the CoM above the feet during the whole jump (take-off, flight, land-in). This allows to control precisely the jump and to reduce the impact at land-in