One of the disadvantages of biped robots is the slow movement. Jumping or running can be the solution to this. This paper describes an optimal jump trajectory generation method for biped robots. In order to conveniently create a jumping trajectory, the center of mass trajectory of the robot was divided into vertical and horizontal directions. The vertical trajectory was designed to maintain the desired flight time by considering a capacity of a actuator and the impact force at landing. The horizontal trajectory was designed to conform to the desired horizontal COM velocity at takeoff while maintaining the desired zero moment point by using preview control. We also considered the friction force between the robot and the ground and the region of motion of the robot. This process was defined as a nonlinear optimization problem, and the optimal jump trajectory was obtained. The trajectory was verified by simulation and standing jump experiment of an actual humanoid robot.

两足动物机器人的缺点之一是运动缓慢。跳跃或奔跑可以解决这个问题。本文描述了一种两足机器人的最佳跳跃轨迹生成方法。为了方便地创建跳跃轨迹，将机器人的质心轨迹的中心分为垂直方向和水平方向。通过考虑执行器的容量和着陆时的冲击力，设计了垂直轨迹以维持所需的飞行时间。通过使用预览控制，水平轨迹设计为符合起飞时所需的水平COM速度，同时保持所需的零力矩点。我们还考虑了机器人与地面之间的摩擦力以及机器人的运动区域。这个过程被定义为非线性优化问题，并获得了最优的跳跃轨迹。通过仿真和实际人形机器人的站立跳跃实验验证了该轨迹。