Planar jumping with stable landing through foot orientation design and ankle joint control

doi:10.1007/s11465-012-0318-3

Front Mech Eng

2012, Vol. 7

Issue (2) : 100-108 https://doi.org/10.1007/s11465-012-0318-3

RESEARCH ARTICLE

Planar jumping with stable landing through foot orientation design and ankle joint control

Qilong YUAN, I-Ming CHEN(

)

School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

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Abstract

This paper introduces a method to generate the planar jumping motion for biped robot. In this work, through determining the upper body posture trajectory in the flight phase, the foot landing posture is made to be flat while landing. Together with properly designing the trajectory for local center of gravity and the foot landing velocity, the soft landing trajectory is generated. A controller on the ankle joint is added to avoid significant impact with the ground and stabilize the robot after landing. Jumping motion with stable landing is achieved in a dynamic simulation environment based on this method.

Keywords biped jumping stable landing control jumping motion generation

Corresponding Author(s): CHEN I-Ming,Email:michen@ntu.edu.sg

Issue Date: 05 June 2012

Cite this article:

Qilong YUAN,I-Ming CHEN. Planar jumping with stable landing through foot orientation design and ankle joint control[J]. Front Mech Eng, 2012, 7(2): 100-108.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0318-3
https://academic.hep.com.cn/fme/EN/Y2012/V7/I2/100

Fig.1 Jumping robot model

Tab.1 Jumping parameters

Fig.2 Vertical acceleration

Fig.3 Vertical trajectory of CG

Fig.4 Upper body orientation trajectory

Fig.5 Spring-damping system

Fig.6 Effect of the Spring-damping system

Fig.7 System diagram

Fig.8 Ankle joint control diagram

Tab.2 Physical parameters of the robot

Fig.9 Joint angular trajectories

Fig.10 Simulation results

Fig.11 Foot orientation

Fig.12 Effect of controller in ankle joints

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