A hop towards running humanoid biped

Kajita, S.; Nagasaki, T.; Kaneko, Kenji; Yokoi, Kazuhito; Tanie, K.

doi:10.1109/robot.2004.1307219

Cited by 81 publications

(46 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Improvement of their locomotion abilities by addition of walking, crawling, climbing, fall protection, and jumping capabilities [1][2][3][4][5][6][7][8][9][10][11][12][13] is important to allow these robots to navigate across such adverse terrain. Unfortunately, most contemporary humanoid robots only have segmental functions.…”

Section: Introductionmentioning

confidence: 99%

“…Unfortunately, most contemporary humanoid robots only have segmental functions. Some robots are designed simply for walking or crawling [2,4,7], while others are designed for jumping alone [9,10]. The purpose of this paper is to add a jumping pattern to a versatile BHR6 robot, which is actuated using electric motors, and that already has walking, rolling, and fall protection capabilities [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Jiang

Chen

et al. 2018

Applied Sciences

View full text Add to dashboard Cite

Abstract:The remarkable ability of humans to perform jump maneuvers greatly contributes to the improvements of the obstacle negotiation ability of humans. The paper proposes a jumping control scheme for a bipedal robot to perform a high jump. The half-body of the robot is modeled as three planar links and the motion during the launching phase is taken into account. A geometrically simple motion was first conducted through which the gear reduction ratio that matches the maximum motor output for high jumping was selected. Then, the following strategies to further exploit the motor output performance was examined: (1) to set the maximum torque of each joint as the baseline that is explicitly modeled as a piecewise linear function dependent on the joint angular velocity; (2) to exert it with a correction of the joint angular accelerations in order to satisfy some balancing criteria during the motion. The criteria include the location of ZMP (zero moment point) and the torque limit. Using the technique described above, the jumping pattern is pre-calculated to maximize the jump height. Finally, the effectiveness of the proposed method is evaluated through simulations. In the simulation, the bipedal robot model achieved a 0.477-m high jump.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Jiang

Chen

et al. 2018

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…Legged robots can be classified into two groups which are static locomotion robots and dynamic locomotion robots (S. Kajita et al, 2004). Static locomotion (e.g.…”

Section: Introductionmentioning

confidence: 99%

Inertia Matching Manipulability and Load Matching Optimization for Humanoid Jumping Robot

Lü

Wang

2012

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Human jumping motion includes stance phase, flight phase and landing impact phase. Jumping robot belongs to a variable constraints system because every phase has different constraint conditions. An unified dynamics equation during stance phase and flight phase is established based on floated-basis space. Inertia matching is used to analyze actuator/gear systems and select the optimum gear ratio based on the transmission performance between the torque produced at the actuator and the torque applied to the load. Load matching is an important index which affects jumping performance and reflects the capability of supporting a weight or mass. It also affects the distributing of the center of gravity (COG). Regarding jumping robot as a redundant manipulator with a load at end-effector, inertia matching can be applied to optimize load matching for jumping robot. Inertia matching manipulability and directional manipulability are easy to analyze and optimize the load matching parameters. A 5th order polynomial function is defined to plan COG trajectory of jumping motion, taking into account the constraint conditions of both velocity and acceleration. Finally, the numerical simulation of vertical jumping and experimental results show inertia matching is in direct proportion to jumping height, and inertia matching manipulability is a valid method to load matching optimization and conceptual design of robot.

show abstract

“…Iguana Robotics' controller was based on central pattern generators (CPGs) and Sony's was based on the ZMP. In early 2004, running was announced for HRP-2LR [14] using a controller based on "resolved momentum". In December 2004, Honda's robot, ASIMO, achieved running at 3 km/h (0.83 m/s) with a 50 ms flight phase using a controller based on "posture control".…”

Section: Related Work On Running Machinesmentioning

confidence: 99%

“…By conservation of linear momentum,ẋ + cm,f is constant during flight, which implies t f = (x cm − x + cm,f )/ẋ + cm,f . Therefore, under the given assumptions, θ f = t f /T f is a valid substitute for (14), and for this reason, the given flight phase virtual constraints are said to be time scaled. Flight phase virtual constraints are enforced using any smooth state feedback controller u f : X f → IR 4 that drives (10b) to zero exponentially quickly.…”

Section: Flight Phase Controlmentioning

confidence: 99%

Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity

Morris

Westervelt

Chevallereau

et al.

Lecture Notes in Control and Information Sciences

View full text Add to dashboard Cite

Summary. This paper reviews and expands the class of hybrid zero dynamics (HZD) controllers that induce stable running in bipedal robots and discusses related experiments conducted in September 2004 in Grenoble, France. In these experiments, RABBIT, a five-link, four-actuator, planar bipedal robot, executed six consecutive running steps. These steps were notably human-like, having a long stride length (approx. 50 cm or 36% of body length), flight phases of significant duration (approx. 100 ms or 25% of the step duration), an upright posture, and an average forward rate of 0.6 m/s. A video is available at [8,18]. Validation of the theory's prediction that the running gait would be stable was not possible in the time available for the experiments. Unmodeled dynamic and geometric effects that contributed to the implementation difficulties are discussed.

show abstract

A hop towards running humanoid biped

Cited by 81 publications

References 14 publications

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Motion Planning for Bipedal Robot to Perform Jump Maneuver

Inertia Matching Manipulability and Load Matching Optimization for Humanoid Jumping Robot

Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity

Contact Info

Product

Resources

About