@article{c71294e4d13b4fdf87a1146e823e6791,
title = "Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid",
abstract = "In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.",
keywords = "Humanoid, angular momentum, hopping, upper body",
author = "Takuya Otani and Kenji Hashimoto and Takaya Isomichi and Akira Natsuhara and Masanori Sakaguchi and Yasuo Kawakami and Lim, {Hun ok} and Atsuo Takanishi",
note = "Funding Information: This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University; Human Performance Laboratory, Waseda University; Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also financially supported in part by JSPS Grant-in-Aid for Scientific Research (A) Grant No. 17H00767 and Grant-in-Aid for Young Scientists No. 18K18132; Waseda University Grant for Special Research Projects (Project number: 2018K-239); SolidWorks Japan K.K.; DYDEN Corporation; and Cybernet Systems Co., Ltd. We thank all of these organizations for the financial and technical support provided. Further, the high-performance physical modeling and simulation software MapleSim used in this research was provided by Cybernet Systems Co., Ltd. (Vendor: Waterloo Maple Inc.) We would like to thank Editage (www.editage.jp) for the English language editing. Publisher Copyright: {\textcopyright} 2018, {\textcopyright} 2018 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.",
year = "2018",
month = nov,
day = "17",
doi = "10.1080/01691864.2018.1526709",
language = "English",
volume = "32",
pages = "1197--1206",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "22",
}