本研究首先建立一三連桿單足機器人之運動模型，將此運動模型做動態分析得到從初始支撐到跳躍離地的所有運動模式(2DOF、3DOF
、4DOF、5DOF)及對應的動態切換條件。藉由模擬，找出能達成跳躍的機制與不利跳躍的限制以提出進階的控制策略。控制策略上，除了充分利用關節的並聯彈簧來儲存/釋放能量外，並結合了以運動模型為基礎的最佳化(Optimization)方法規劃出能達到最大單次跳躍高度之控制力矩。實驗上，使用與文獻[17] 相同規格的馬達、連桿長度和整體重量的條件下，此最佳化控制策略將機器人最大跳躍高度由其8mm提升至20mm。

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