The Tumbling Motion Planning of Humanoid Robot with Rolling-Stone Dynamics Model

Jingwei Cao*, Junyao Gao*, Weilong Zuo, Jiongnan Liu, Xilong Xin, Mingyue Jin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publication2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages222-227
Number of pages6
ISBN (Electronic)9781665490283
DOIs
Publication statusPublished - 2023
Event2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 - Wuhan, China
Duration: 24 Mar 202326 Mar 2023

Publication series

Name2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022

Conference

Conference2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
Country/TerritoryChina
CityWuhan
Period24/03/2326/03/23

Keywords

  • collision analysis
  • humanoid robot
  • motion planning
  • trajectory optimization

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