Several tests were performed to study the jumping performance
of the robot. The dominant factors that determined the jumping
height were the cylinder rod speed, cylinder pressure, and robot
traveling speed. Fig. 7 shows the experimental and theoretical
jumping heights under various conditions. As expected, the jumping
height increased with the duty ratio and the height also increased
with the traveling speed and cylinder rod speed, which
also caused the jumping speed and angle to increase. For theoretical
computations, the dimensions of the robot are selected with