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Motion coordination for humanoid jumping using maximized joint power
Advances in Mechanical Engineering ( IF 2.1 ) Pub Date : 2021-06-28 , DOI: 10.1177/16878140211028448
Xuechao Chen 1 , Wenxi Liao 2 , Zhangguo Yu 1 , Haoxiang Qi 2 , Xinyang Jiang 2 , Qiang Huang 1
Affiliation  

Jumping capability of humanoid robots can be considered as one of the cruxes to improve the performance of future humanoid robot applications. This paper presents an optimization method on a three-linkage system to achieve a jumping behavior, which is followed by the clarification of the mathematical modeling and motor-joint model with practical factors considered. In consideration of the constraints of ZMP and the performance of the motor, the output power of the joint motors is maximized as much as possible to achieve a higher height. Finally, the optimization method is verified by the simulation and experiment. Different from other electric driven robots, which take the output power of the joint as the constraint, we maximize the output power of the joint to optimize the hopping performance of the robot. Realizing dynamic jumping of humanoid robots can also provide a solid foundation for further research on running, which can greatly enhance the environmental adaptability.



中文翻译:

使用最大化关节力量的仿人跳跃运动协调

仿人机器人的跳跃能力可以被认为是提高未来仿人机器人应用性能的关键之一。本文提出了一种在三连杆系统上实现跳跃行为的优化方法,然后结合实际因素对数学建模和运动关节模型进行了澄清。考虑到ZMP的约束和电机的性能,尽可能最大化关节电机的输出功率,以达到更高的高度。最后,通过仿真和实验验证了优化方法。不同于其他以关节输出功率为约束的电动机器人,我们最大化关节的输出功率以优化机器人的跳跃性能。

更新日期:2021-06-29
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