DocumentCode
2942740
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
fYear
2005
fDate
18-22 April 2005
Firstpage
3752
Lastpage
3757
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570692
Filename
1570692
Link To Document