Landing trajectory generation for bipedal jumping motion | IEEE Conference Publication | IEEE Xplore

Landing trajectory generation for bipedal jumping motion


Abstract:

In recent years, various control methodologies are reported in the field of bipedal fast mobility, and some robots succeeded to run. Running motion is the combination of ...Show More

Abstract:

In recent years, various control methodologies are reported in the field of bipedal fast mobility, and some robots succeeded to run. Running motion is the combination of fast walking and jumping cycles. So we proposed a control method based on the idea of manipulating Centor of Gravity (COG) point in real time and succeeded jumping. In jumping experiments on humanoids, Ground Reaction Force (GRF) response is a very important index. Especially at the moment of touch-down, dynamic balancing problems. This paper proposes a method at trajectory generation to decrease aforementioned GRF response. Proposed method is verified by the jumping simulation and experiment.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
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Conference Location: Nagaoka, Japan

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