A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint

Haoxiang Qi, Xuechao Chen*, Zhangguo Yu, Gao Huang, Libo Meng, Kenji Hashimoto, Wenxi Liao, Qiang Huang

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper proposes a vertical jump optimization strategy for a one-legged robot with consideration of its variable reduction ratio joints. Firstly, the characteristic of the joint is derived to obtain its influence on jump motion, which is similar to the reduction ratio. Secondly, referring to the joint's characteristic, the initial posture of jumping is optimized to maximize the initial acceleration of jumping. Then, to generate the trajectory of the center of mass (CoM) and make the jump motion more efficient, nonlinear optimization of CoM is adopted with respect to human jumping data. Full-body dynamics is considered to track the trajectory with virtual force control. For flight phase, joint PD controller is adopted to decelerate and maintain the posture. A contrast simulation is implemented to demonstrate the characteristics of the variable reduction ratio joint. Vertical jump experiment on a one-legged robot platform is realized with a height of 30 cm.

本文言語English
ホスト出版物のタイトル2020 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
編集者Tamim Asfour, Dongheui Lee, Mombaur Katja, Katsu Yamane, Kensuke Harada, Ludovic Righetti, Nikos Tsagarakis, Tomomichi Sugihara
出版社IEEE Computer Society
ページ262-267
ページ数6
ISBN(電子版)9781728193724
DOI
出版ステータスPublished - 2021
イベント20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020 - Munich, Germany
継続期間: 2021 7月 192021 7月 21

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2021-July
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Conference

Conference20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
国/地域Germany
CityMunich
Period21/7/1921/7/21

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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