Model-based analysis and motion planning for the BionicKangaroo

The BionicKangaroo was developed by the Festo Bionic Learning Network to mirror the characteristic and energy efficient movement behavior of the kangaroo. The contribution describes the model design, analysis and motion planning for the BionicKangaroo. After introducing the mathematical model consisting of the flight and stance phase, a feasibility study for achieving stable hopping is performed by deriving a model predictive control scheme that is used to compute a stationary hopping cycle with maximized velocity. The actual control design is split into the flight and stance phase. In addition, a switching condition is derived to connect the flight and stance phase and to initiate the next hopping cycle.