Landing trajectory generation for bipedal jumping motion

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.