Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

Zewen He; Fei Meng; Huaxin Liu; Xuxiao Fan; Shengkai Liu; Ryuki Sato; Aiguo Ming; Qiang Huang

doi:10.1109/ROBIO.2018.8665109

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

Zewen He, Fei Meng^*, Huaxin Liu, Xuxiao Fan, Shengkai Liu, Ryuki Sato, Aiguo Ming, Qiang Huang

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

5 引用（Scopus）

摘要

The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

源语言	英语
主期刊名	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1226-1231
页数	6
ISBN（电子版）	9781728103761
DOI	https://doi.org/10.1109/ROBIO.2018.8665109
出版状态	已出版 - 2 7月 2018
活动	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, 马来西亚期限: 12 12月 2018 → 15 12月 2018

出版系列

姓名	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

会议

会议	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
国家/地区	马来西亚
市	Kuala Lumpur
时期	12/12/18 → 15/12/18

访问文件

10.1109/ROBIO.2018.8665109

其它文件与链接

链接到 Scopus 的出版物

引用此

He, Z., Meng, F., Liu, H., Fan, X., Liu, S., Sato, R., Ming, A., & Huang, Q. (2018). Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (页码 1226-1231). 文章 8665109 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8665109

@inproceedings{8211e2a54d7c4226afe99d5a05918600,

title = "Optimization of Standing Long Jump Strategy on a Small Quadruped Robot",

abstract = "The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).",

author = "Zewen He and Fei Meng and Huaxin Liu and Xuxiao Fan and Shengkai Liu and Ryuki Sato and Aiguo Ming and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2018.8665109",

language = "English",

series = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1226--1231",

booktitle = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018",

address = "United States",

}

He, Z, Meng, F, Liu, H, Fan, X, Liu, S, Sato, R, Ming, A & Huang, Q 2018, Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8665109, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., 页码 1226-1231, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, 马来西亚, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8665109

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. / He, Zewen; Meng, Fei; Liu, Huaxin 等.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 1226-1231 8665109 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

AU - He, Zewen

AU - Meng, Fei

AU - Liu, Huaxin

AU - Fan, Xuxiao

AU - Liu, Shengkai

AU - Sato, Ryuki

AU - Ming, Aiguo

AU - Huang, Qiang

PY - 2018/7/2

Y1 - 2018/7/2

N2 - The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

AB - The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

UR - http://www.scopus.com/inward/record.url?scp=85064130706&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2018.8665109

DO - 10.1109/ROBIO.2018.8665109

M3 - Conference contribution

AN - SCOPUS:85064130706

T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

SP - 1226

EP - 1231

BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Y2 - 12 December 2018 through 15 December 2018

ER -

He Z, Meng F, Liu H, Fan X, Liu S, Sato R 等. Optimization of Standing Long Jump Strategy on a Small Quadruped Robot. 在 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 1226-1231. 8665109. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8665109

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

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