Motion coordination for humanoid jumping using maximized joint power

Xuechao Chen,Zhangguo Yu,Qiang Huang,Haoxiang Qi,Wenxi Liao,Xinyang Jiang

doi:10.1177/16878140211028448

Abstract

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.

Highlights

In the past few decades, the research of humanoid robots has made breakthroughs in stable walking and dexterous operation.[1,2,3,4,5,6] Lacking of diversified motion mode, humanoid robots are not qualified for operating in intricate occasion
Humanoid robots capable of jumping ability as human beings will greatly improve their adaptability to complex environments, thereby further promoting humanoid robots’ practical process
Since the robot takes off in a very short time, only 0:15 À 0:45s, which is far less than the time allowed by the motor under the peak condition, the peak torque speed curve of the motor is adopted as the constraint curve of the motor properties of vertical jump movement

Summary

Introduction

In the past few decades, the research of humanoid robots has made breakthroughs in stable walking and dexterous operation.[1,2,3,4,5,6] Lacking of diversified motion mode, humanoid robots are not qualified for operating in intricate occasion. They proposed a method[23] for adapting human vertical jumping dynamics to humanoid robotic structure using precomputed reference trajectory. Their work has certain significance for the research of modeling and control of jumping motion of humanoid robots, but the issue of motor output is not considered. In our previous work,[27] we proposed a jumping planning method for robot with ideal motor model and did some simple simulation of vertical jump. We first make some assumptions for the vertical jump of humanoid robot and further simplify the BHR-6 robot’s structure for our analysis. The acceleration of Figure 1. (a) BHR-6 humanoid robot, (b) BHR-6 model, and (c) simplified structure: the three-linkage inverted pendulum of the take-off phase

Method

Experiments and results

Conclusion