TY - GEN
T1 - Planning and Control of Forward Jumping Movement of Humanoid Robot
AU - Liao, Wenxi
AU - Chen, Xuechao
AU - Huang, Gao
AU - Qi, Haoxiang
AU - Li, Qingqing
AU - Yu, Zhangguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Humanoid robot's stable walking and crawling movement patterns can help them adapt to a relatively flat road, but these movement patterns are difficult to deal with conditions such as ditches and platforms. Adding jumping motion to the robot can greatly enhance the robot's ability to adapt to the environment. This paper explores the forward jumping of the humanoid robot. A simplified three-link model of the humanoid robot in the sagittal plane is established and the jumping process is decomposed into three phases: take-off phase, flight phase, and landing phase. The mathematical model for each phase of the forward jumping of the humanoid robot is developed. In the whole process, motors provide torques for the three joints of the robot's hip joint, knee joint and ankle joint. Then the kinematics and dynamics are constrained for each phase, and the cost function is established. Furthermore, the pseudo-spectral method is used to optimize the design of the jumping trajectory to ensure the forward jumping of the humanoid robot. Finally, the validity of the proposed method for the whole forward jumping process is verified by the simulation experiment. The simulation result shows that the model of the humanoid robot can achieve 0.85 meters forward jumping.
AB - Humanoid robot's stable walking and crawling movement patterns can help them adapt to a relatively flat road, but these movement patterns are difficult to deal with conditions such as ditches and platforms. Adding jumping motion to the robot can greatly enhance the robot's ability to adapt to the environment. This paper explores the forward jumping of the humanoid robot. A simplified three-link model of the humanoid robot in the sagittal plane is established and the jumping process is decomposed into three phases: take-off phase, flight phase, and landing phase. The mathematical model for each phase of the forward jumping of the humanoid robot is developed. In the whole process, motors provide torques for the three joints of the robot's hip joint, knee joint and ankle joint. Then the kinematics and dynamics are constrained for each phase, and the cost function is established. Furthermore, the pseudo-spectral method is used to optimize the design of the jumping trajectory to ensure the forward jumping of the humanoid robot. Finally, the validity of the proposed method for the whole forward jumping process is verified by the simulation experiment. The simulation result shows that the model of the humanoid robot can achieve 0.85 meters forward jumping.
UR - https://www.scopus.com/pages/publications/85078328879
U2 - 10.1109/ARSO46408.2019.8948791
DO - 10.1109/ARSO46408.2019.8948791
M3 - Conference contribution
AN - SCOPUS:85078328879
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 61
EP - 67
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -