Jumping motion experiments on a NAO robot with elastic devices

Hondo, Takatoshi; Kinase, Yuta; Mizuuchi, Ikuo

doi:10.1109/humanoids.2012.6651615

Cited by 4 publications

(3 citation statements)

References 14 publications

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“…Like most humanoid robots, 28 BHR-6 is equipped with the same Parker motor(K044100-6Y-4.98Ams) in the ankle, knee, and hip joint. In the take-off phase, with the increase of the joint speed, the torque provided by the motor to the joints is constrained by the motor properties, which means that the sustained torque and peak torque provided by the motor at a certain speed are limited.…”

Section: Methodsmentioning

confidence: 99%

Motion coordination for humanoid jumping using maximized joint power

Chen

Liao

et al. 2021

Advances in Mechanical Engineering

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Jumping capability of humanoid robots can be considered as one of the cruxes to improve the performance of future humanoid robot applications. This paper presents an optimization method on a three-linkage system to achieve a jumping behavior, which is followed by the clarification of the mathematical modeling and motor-joint model with practical factors considered. In consideration of the constraints of ZMP and the performance of the motor, the output power of the joint motors is maximized as much as possible to achieve a higher height. Finally, the optimization method is verified by the simulation and experiment. Different from other electric driven robots, which take the output power of the joint as the constraint, we maximize the output power of the joint to optimize the hopping performance of the robot. Realizing dynamic jumping of humanoid robots can also provide a solid foundation for further research on running, which can greatly enhance the environmental adaptability.

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Section: Methodsmentioning

confidence: 99%

Motion coordination for humanoid jumping using maximized joint power

Chen

Liao

et al. 2021

Advances in Mechanical Engineering

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“…(m) Most of the robots are equipped with the same or similar motor and reduction ratio on these three joints, e.g., NAO [20], HRP3L [21], DARwin [25] and Honda E2-DR [26] . We equip these three joints with the same K044100-6Y-4.98Ams motor and the same reduction ratio of i r = 100.…”

Section: Selection Of An Appropriate Reduction Ratiomentioning

confidence: 99%

“…Ugurlu et al used the base resonance frequency to realize high acceleration [18]. By addition of elastic devices, Hondo et al realized jumping motion in the low-power humanoid robot Nao [20] that would not originally have had sufficient power to jump. All these methods planned jump patterns based on the trajectory of the leg length or the force of the ground.…”

Section: Introductionmentioning

confidence: 99%

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Jiang

Chen

et al. 2018

Applied Sciences

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Abstract:The remarkable ability of humans to perform jump maneuvers greatly contributes to the improvements of the obstacle negotiation ability of humans. The paper proposes a jumping control scheme for a bipedal robot to perform a high jump. The half-body of the robot is modeled as three planar links and the motion during the launching phase is taken into account. A geometrically simple motion was first conducted through which the gear reduction ratio that matches the maximum motor output for high jumping was selected. Then, the following strategies to further exploit the motor output performance was examined: (1) to set the maximum torque of each joint as the baseline that is explicitly modeled as a piecewise linear function dependent on the joint angular velocity; (2) to exert it with a correction of the joint angular accelerations in order to satisfy some balancing criteria during the motion. The criteria include the location of ZMP (zero moment point) and the torque limit. Using the technique described above, the jumping pattern is pre-calculated to maximize the jump height. Finally, the effectiveness of the proposed method is evaluated through simulations. In the simulation, the bipedal robot model achieved a 0.477-m high jump.

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Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

Meng

Ceccarelli

et al. 2020

ROMANSY 23 - Robot Design, Dynamics and Control

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Jumping motion experiments on a NAO robot with elastic devices

Cited by 4 publications

References 14 publications

Motion coordination for humanoid jumping using maximized joint power

Motion coordination for humanoid jumping using maximized joint power

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

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