TY - GEN
T1 - A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint
AU - Qi, Haoxiang
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Huang, Gao
AU - Meng, Libo
AU - Hashimoto, Kenji
AU - Liao, Wenxi
AU - Huang, Qiang
N1 - Funding Information:
*This work was supported by the National Key Research and Development Project under Grant 2018YFE0126200, National Natural Science Foundation of China under Grant 91748202 and National Natural Science Foundation of China under Grant 62073041. 1School of Mechantronical Engineering, Beijing Institute of Technology, Beijing 100081, China. 2Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing 100081, China. 3Department of Mechanical Engineering Informatics, School of Science and Technology, Meiji University, Japan. 4Humanoid Robotics Institute (HRI), Waseda University, Japan.
Publisher Copyright:
©2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
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U2 - 10.1109/HUMANOIDS47582.2021.9555679
DO - 10.1109/HUMANOIDS47582.2021.9555679
M3 - Conference contribution
AN - SCOPUS:85126056569
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 262
EP - 267
BT - 2020 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
A2 - Asfour, Tamim
A2 - Lee, Dongheui
A2 - Katja, Mombaur
A2 - Yamane, Katsu
A2 - Harada, Kensuke
A2 - Righetti, Ludovic
A2 - Tsagarakis, Nikos
A2 - Sugihara, Tomomichi
PB - IEEE Computer Society
T2 - 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
Y2 - 19 July 2021 through 21 July 2021
ER -