A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint

Haoxiang Qi, Xuechao Chen*, Zhangguo Yu, Gao Huang, Libo Meng, Kenji Hashimoto, Wenxi Liao, Qiang Huang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a vertical jump optimization strategy for a one-legged robot with consideration of its variable reduction ratio joints. Firstly, the characteristic of the joint is derived to obtain its influence on jump motion, which is similar to the reduction ratio. Secondly, referring to the joint's characteristic, the initial posture of jumping is optimized to maximize the initial acceleration of jumping. Then, to generate the trajectory of the center of mass (CoM) and make the jump motion more efficient, nonlinear optimization of CoM is adopted with respect to human jumping data. Full-body dynamics is considered to track the trajectory with virtual force control. For flight phase, joint PD controller is adopted to decelerate and maintain the posture. A contrast simulation is implemented to demonstrate the characteristics of the variable reduction ratio joint. Vertical jump experiment on a one-legged robot platform is realized with a height of 30 cm.

Original languageEnglish
Title of host publication2020 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
EditorsTamim Asfour, Dongheui Lee, Mombaur Katja, Katsu Yamane, Kensuke Harada, Ludovic Righetti, Nikos Tsagarakis, Tomomichi Sugihara
PublisherIEEE Computer Society
Pages262-267
Number of pages6
ISBN (Electronic)9781728193724
DOIs
Publication statusPublished - 2021
Event20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020 - Munich, Germany
Duration: 2021 Jul 192021 Jul 21

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2021-July
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
Country/TerritoryGermany
CityMunich
Period21/7/1921/7/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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