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Appl. Sci. 2018, 8(1), 139; https://doi.org/10.3390/app8010139

Motion Planning for Bipedal Robot to Perform Jump Maneuver

1
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
2
Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
3
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing 100081, China
*
Author to whom correspondence should be addressed.
Received: 14 November 2017 / Revised: 11 January 2018 / Accepted: 15 January 2018 / Published: 19 January 2018
(This article belongs to the Special Issue Bio-Inspired Robotics)
View Full-Text   |   Download PDF [2538 KB, uploaded 19 January 2018]   |  

Abstract

The remarkable ability of humans to perform jump maneuvers greatly contributes to the improvements of the obstacle negotiation ability of humans. The paper proposes a jumping control scheme for a bipedal robot to perform a high jump. The half-body of the robot is modeled as three planar links and the motion during the launching phase is taken into account. A geometrically simple motion was first conducted through which the gear reduction ratio that matches the maximum motor output for high jumping was selected. Then, the following strategies to further exploit the motor output performance was examined: (1) to set the maximum torque of each joint as the baseline that is explicitly modeled as a piecewise linear function dependent on the joint angular velocity; (2) to exert it with a correction of the joint angular accelerations in order to satisfy some balancing criteria during the motion. The criteria include the location of ZMP (zero moment point) and the torque limit. Using the technique described above, the jumping pattern is pre-calculated to maximize the jump height. Finally, the effectiveness of the proposed method is evaluated through simulations. In the simulation, the bipedal robot model achieved a 0.477-m high jump. View Full-Text
Keywords: biped robot; jump; electric actuator; motion planning biped robot; jump; electric actuator; motion planning
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Jiang, X.; Chen, X.; Yu, Z.; Zhang, W.; Meng, L.; Huang, Q. Motion Planning for Bipedal Robot to Perform Jump Maneuver. Appl. Sci. 2018, 8, 139.

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