Title :
Motion planning for vertical jumping by a small humanoid with structural joint stops
Author :
Hasegawa, Yuichi ; Ohishi, Chigusa ; Fukumori, Masato ; Xu, Chunquan ; Ming, Aiguo ; Shimojo, Makoto
Author_Institution :
Univ. of Electro-Commun., Chofu, Japan
Abstract :
To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion planning method and simulation results are shown in this paper.
Keywords :
humanoid robots; motion control; commercial humanoid; hyper dynamic manipulations; motion planning; structural joint stops; vertical jumping; Acceleration; Boundary conditions; Force; Joints; Planning; Robots; Torque;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723410
