Title :
One-leg jumping with virtual spring principle
Author :
Kawamura, Atsuo ; Zhu, Chi
Author_Institution :
Yokohama Nat. Univ., Yokohama
Abstract :
One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved with our developed biped robot MARI-3.
Keywords :
legged locomotion; motion control; springs (mechanical); MARI-3; biped robot; mass-spring system; one-leg jumping; virtual spring principle; Computational modeling; Computer graphics; Computer simulation; Hospitals; Humanoid robots; Humans; Hydraulic actuators; Knee; Legged locomotion; Springs;
Conference_Titel :
Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2821-2
Electronic_ISBN :
978-1-4244-2822-9
DOI :
10.1109/ICHR.2008.4755928
