Fig. 11: Jump trajectories and jump control signal versus experimental parameters.

The procedure can successfully jump over a wide range of unknown gaps varying from 1 to 4 meters in width. A nominal gap of 3 meters can be jumped despite variations in the unknown actuator time constant, camera resolution, oscillation period, gravitational force, and actuator gain. The jump control signals resulting from an embodied optimal control problem (25) can be seen to vary in magnitude and duration as expected given varied jump distance, actuator time constant, gravitational strength, and actuator gain.