mr ¼ 0:05 kg, M ¼ 1:4 kg, A ¼ 0:001256 m2; A0 ¼ 0:0006406 m2.
The cylinder rod speed was controlled by the duty ratio of the
PWM-controlled valve. Fig. 8 shows sequential images of the robot
jumping up onto an obstacle. For this example, the estimated distance,
corresponding jumping speed, and alignment with the
obstacle were all predetermined.
The jumping performance for a stair is tested how effectively
the robot can jump on the stair. When the robot detects a stair
ahead, the robot poses a jumping on mode. Before jumping, the
robot should be aligned to the front line of stair. Without alignment
with the stair line, the robot tends to fall back to the
floor or lower stair. The average success rate for a jump onto
a stair is around 75% while jumping over obstacles comes up
to 90%. The difference of success rate for each case arises from
different situation. Jumping onto a stair is stricter than just
jumping over obstacles because the stair jumping needs a well
alignment with the stair front line not to have a falling-back to
floor.