@inproceedings{8337c9e04d41481b93de4ff5407857c7,
title = "The Tumbling Motion Planning of Humanoid Robot with Rolling-Stone Dynamics Model",
abstract = "In this paper, rolling stone model is proposed to analyze the impact of various collision processes on the ground tumbling motion of humanoid robot. The multi-point contact robot model is described as a single rigid body model with multilateral contours by Rolling Stone model. The energy loss of the whole body caused by collision is prone to be measured. The tumbling phases is divided by different contact points. The whole body motion trajectory of each phase is generated by the dynamic trajectory optimizer and constrained by the rolling stone model calculation results. The simulation results demonstrate that the robot can complete the ground tumbling motion under static conditions. The kinetic energy loss calculated by the rolling stone model matches well to the simulation results.",
keywords = "collision analysis, humanoid robot, motion planning, trajectory optimization",
author = "Jingwei Cao and Junyao Gao and Weilong Zuo and Jiongnan Liu and Xilong Xin and Mingyue Jin",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 ; Conference date: 24-03-2023 Through 26-03-2023",
year = "2023",
doi = "10.1109/CBS55922.2023.10115304",
language = "English",
series = "2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "222--227",
booktitle = "2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022",
address = "United States",
}
