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Paper TuD02.2

Ugurlu, Barkan (Toyota Technological Institute), Saglia, Jody Alessandro (Fondazione Istituto Italiano di Tecnologia), Tsagarakis, Nikolaos (Istituto Italiano di Tecnologia), Caldwell, Darwin G. (Italian Institute of Technology)

Hopping at the Resonance Frequency: A Pattern Generation Technique for Bipedal Robots with Elastic Joints

Scheduled for presentation during the Regular Session "Humanoid Motion Planning and Control" (TuD02), Tuesday, May 15, 2012, 16:45−17:00, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Humanoid and Bipedal Locomotion, Humanoid Robots

Abstract

It is known that bipedal robots with passive compliant structures have obvious advantages over stiff robots, as they are able to handle the potential energy management. Therefore, this paper is aimed at presenting a jumping pattern generation method that takes advantage of this property via the utilization of the ankle joint resonance frequency, which is of special importance. To begin with, the resonance frequency is determined through a system identification procedure on our actual robot. Consequentially, the vertical component of the CoM is generated via a periodic function in which the resonance frequency is employed. The horizontal component of the CoM is obtained using the ZMP criterion to guarantee the dynamic balance. Having analytically generated the necessary elements of the CoM trajectory, joint motions are computed with the help of translational and angular momenta constraints. In order to validate the method, two legged jumping experiments are conducted on our actual compliant robot. In conclusion, we satisfactorily observed repetitive, continuous, and dynamically equilibrated jumping cycles with successful landing phases.

 

 

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