Title :
Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization
Author :
Sakka, Sophie ; YOKOI, Kazuhito
Author_Institution :
AIST/CNRS Joint Japanese-French Robotics Research Laboratory (JRL) Intelligent Systems Research Institute (ISRI), AIST Central 2, 1-1-1 Umezono, Tsukuba 305-8568, Japan; sophie.sakka@aist.go.jp
Abstract :
This paper proposes adapting human jumping dynamics to humanoid robotic structures. Data obtained from human jumping phases and decomposition together with ground reaction forces (GRF) are used as model references. Moreover, bodies inertial forces are used as task constraints while optimizing energy to determine the humanoid robot posture and improve its jumping performances.
Keywords :
Humanoid robotics; inertia optimization; jumping pattern generation; Actuators; Biological system modeling; Force feedback; Humanoid robots; Humans; Intelligent robots; Intelligent systems; Kinematics; Legged locomotion; Stability; Humanoid robotics; inertia optimization; jumping pattern generation;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570692
