Biped Robot Vertical Jumping with Control Constraints

Sripada, Aditya and Vistapalli, Janardhan and Kumar, R P (2018) Biped Robot Vertical Jumping with Control Constraints. In: IEEE International Conference on Robotics and Biomimetics, ROBIO, 12-15 December 2018, Kuala Lumpur Convention Centre (KLCC) Kuala Lumpur, Malaysia.

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Abstract

his paper proposes a multibody dynamics approach to achieve vertical jumping motion in biped robots. Joint trajectories were generated using control constraints that depend on the vertical distance traveled by the Center of Mass (CoM) of the biped. For the stance phase, constraints are introduced on the vertical motion of CoM and on the Zero Moment Point (ZMP). ZMP was considered to be at the ankle and the ankle torque was made zero, so that foot angular momentum could be ignored. Constraints in the flight phase are considered such that the CoM moves in a vertical direction. Dynamic analysis of the biped was performed for stance and flight phases and joint angles and velocities were computed. Thus acquired angles and velocities were supplied to a 3DOFsingie leg robot, which jumped vertically to a height of 4cm

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IITH Creators:
IITH CreatorsORCiD
Kumar, R PUNSPECIFIED
Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Biped robot, dynamic analysis, jumping, motion planning
Subjects: Physics > Mechanical and aerospace
Divisions: Department of Mechanical & Aerospace Engineering
Depositing User: Team Library
Date Deposited: 01 May 2019 11:02
Last Modified: 01 May 2019 11:02
URI: http://raiith.iith.ac.in/id/eprint/5044
Publisher URL: http://doi.org/10.1109/ROBIO.2018.8665223
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