DocumentCode
2651154
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
fYear
2010
fDate
14-18 Dec. 2010
Firstpage
691
Lastpage
696
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4244-9319-7
Type
conf
DOI
10.1109/ROBIO.2010.5723410
Filename
5723410
Link To Document