Rolling motion generation of multi-points contact for a humanoid robot

Yu, Dacheng; Yu, Zhangguo; Fang, Xi; Siyu, Lei; Meng, Libo; Zhou, Qinqin; Han, Jianda

doi:10.1109/icarm.2016.7606911

Cited by 3 publications

(3 citation statements)

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“…At t = 0.40 (s), the translational velocity of COM in vertical direction reaches a maximum 3.42 (m/s). Without consideration of the influence of the added trajectory near the taking off time, the jump height is about 0.596 (m), which can be calculated by Equation (12). The added trajectory leads to the slight decrease in vertical velocity at the take-off time, which is a little delayed.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Some robots are designed simply for walking or crawling [2,4,7], while others are designed for jumping alone [9,10]. The purpose of this paper is to add a jumping pattern to a versatile BHR6 robot, which is actuated using electric motors, and that already has walking, rolling, and fall protection capabilities [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

“…Improvement of their locomotion abilities by addition of walking, crawling, climbing, fall protection, and jumping capabilities [1][2][3][4][5][6][7][8][9][10][11][12][13] is important to allow these robots to navigate across such adverse terrain. Unfortunately, most contemporary humanoid robots only have segmental functions.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Simulation Resultsmentioning

confidence: 99%