A simple strategy for jumping straight up

Jumping from a stationary standing position into the air is a transition from a constrained motion in contact with the ground to an unconstrained system not in contact with the ground. A simple case of the jump, as it applies to humans, robots and humanoids, is studied in this paper. The dynamics of the constrained rigid body are expanded to define a larger system that accommodates the jump. The formulation is applied to a four-link, three-dimensional system in order to articulate the ballistic motion involved. The activity of the muscular system and the role of the major sagittal muscle groups are demonstrated. The control strategy, involving state feedback and central feed forward signals, is formulated and computer simulations are presented to assess the feasibility of the formulations, the strategy and the jump.