Motion generation of multi-legged robot with a slider mechanism for each foot

Now, the locomotion strategy of a legged mobile robot is generally based on a static walking. For the static walking, one or more legs should contact with the ground during each gait cycle. Therefore, the range of the robot activity is limited due to the mechanism, but it can be extended by using the jump. The posture of a leg is changed by imitating a living thing, especially, referring to reptiles and mammals who have four legs. The jumping force is decided based on a CPG. The result of the dynamics simulation by OpenHRP3 is discussed.