When the robot takes a command of j

When the robot takes a command of jumping over obstacles or
jumping onto the obstacles from the result of the camera image
processing, the robot is determined an appropriate traveling velocity
and piston rod projection speed. When the two speeds are set
on robot movement, the projectile trajectory is determined. If the
height of obstacles is small enough to jump over, the traveling
speed does not have to be set fast. Only piston rod speed is controlled
enough to jump over. For large height jumping case of near
30 cm, the traveling speed need to be set fast enough to increase
the maximum jumping height because the starting speed of jumping
is a vector combination of traveling speed and piston rod speed.