Open AccessMotion coordination for humanoid jumping using maximized joint power
Author(s) -
Xuechao Chen,
Wenxi Liao,
Haoxiang Qi,
Xinyang Jiang
Publication year - 2021
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1177/16878140211028448
Subject(s) - humanoid robot , jumping , adaptability , robot , computer science , power (physics) , linkage (software) , control theory (sociology) , joint (building) , constraint (computer aided design) , control engineering , simulation , engineering , artificial intelligence , control (management) , physiology , architectural engineering , ecology , mechanical engineering , biochemistry , chemistry , physics , quantum mechanics , gene , biology
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.