Analysis and Optimization of Factors Affecting the Single-leg Bounce Height

This study designs and evaluates the bounce performance of a motor-driven, three-degree-of-freedom (3-DoF) single-leg robot. A power-constrained control strategy is developed and implemented in simulations on an Ubuntu 20.04 platform. To assess system performance, we conduct comparative experiments across 15 different configurations, varying leg lengths (300 mm, 400 mm, and 500 mm) and motor models (A1, B1-16, SETZ-1FE, SETZ-1FC, and SETZ-1FD). The results indicate that the SETZ90-1FE motor delivers the best performance, achieving a maximum bounce height of 1.11 m with a 500 mm leg, compared to 0.78 m with a 300 mm leg and 0.87 m with a 400 mm leg. Based on these findings, we select the SETZ90-1FE motor with a 400 mm leg length to further analyze the influence of different joints on bounce performance. Simulation results reveal that the knee joint has the most significant impact, reaching a maximum bounce height of 1.15 m, while the hip and ankle joints achieve bounce heights of 0.80 m and 0.725 m, respectively.