Motion Planning for Bipedal Robot to Perform Jump Maneuver

Abstract

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.

Controllable Height Hopping of a Parallel Legged Robot

“…where h smt(i) , k i , and h B(i) are h smt , k vl , and h B in ith simulation, respectively. Then, we could use the optimization function in (18) to find the appropriate parameter value p 0 to p 5 .…”

“…This type of control is not connected closely to dynamic model, although applicable and universal for most legged robots, lacking control accuracy and maneuverability for a specific robot system. For whole-body jumping control, there are other methods such as ZMP to realize hopping on legged robot [17][18][19]. Besides, virtual model control (VMC) is an efficient method in robot leg or arm control, which has also been validated in walking and jumping motion control [20][21][22].…”

Special Feature on Bio-Inspired Robotics

“…The half-body of the robot is modeled as three planar links. A geometrically simple motion is conducted through which the gear reduction ratio that matches the maximum motor output for high jumping is selected, followed by the strategies to further exploit the motor output performance via criteria including the location of ZMP (zero moment point) and the torque limit [3]. Zang et al introduce a novel foot system with passively adjustable stiffness for biped robots which is adaptable to small-sized bumps on the ground.…”

Historical Developments of BHR Humanoid Robots

“…In general, from BHR-1 to BHR-5, the team focused on humanoid walking and manipulation (Chen et al, 2017;Jiang et al, 2018;Huang et al, 2018). The humanoid robots can walk, play the traditional martial arts (e.g.…”