A jumping pattern generation for the Biped Robot

作者：Wang Xianfeng^*; Hong Bingrong; Piao Songhao; Pan Qinghe

来源：Information Technology Journal, 2011, 10(9): 1650-1661.

DOI：10.3923/itj.2011.1650.1661

• Ankle joints
• Biped Robot
• Biped robot dynamics
• Body posture control
• Center of mass
• Control methods
• Degree of freedom
• Dynamic balance
• Dynamic equations
• Flight phase
• Jumping patterns
• Jumping robot
• Landing phase
• Projectile motion
• Under-actuation
• Zero moment point

This study has proposed a control method to make the biped robot jump. Our proposed method is based on ensuring the overall dynamic balance through the complete jumping cycle, Gaits of Center of Mass (CoM) and foot for the biped robot are planned in standing phase and flight phase, respectively. Gait of Center of Mass (CoM) for the biped robot is planned by solving dynamic equation based on cart-curved table model and Zero Moment Point (ZMP) equation is discredited in standing phase and Center of Mass (CoM) for the biped robot takes a projectile motion in flight phase. Rotation of the foot leads to under actuation due to the passive degree of freedom at the heel during landing phase and at the toe during takeoff phase which results in no using ZMP criterion. Compliance between the foot and ground is modeled as a spring-damper system. Torque control to the ankle joint is used for modifying the biped robot balance. At the same time, inclination of the upper body is controlled by using Upper Body Posture Control. Forward jumping motion is experimentally realized on a biped robot.

• 出版日期2011