Hopping movement simulation of elastic actuator

In this paper, we presented a multimodal elastic actuator which combining the motor, spring, brake and clutch that produces several modes of operation. The operation modes including stiff position control, series elastic actuation as well as the possibility to store and release energy were analyzed. A prototype of multimodal elastic actuator was constructed, dynamics equations of elastic actuator were established, and hopping movements with harmonic excitation were studied. Hopping movement was analyzed using receding horizon policy, the elastic actuator was controlled with preloaded hopping, and the hopping simulations with different ground trajectories were studied. The hopping movement simulation study of multimode elastic actuator provides important theoretical basis for the understanding of motion mechanism of bionic actuator and control implementation of hopping movement.