Motion Pattern Generation of Standing Long Jump for Planar Four-Link Robot

• Main Authors: Kan-Chang, Yang, 楊侃璋
• Other Authors: Chi-Feng, Chang
• Format: Others
• Language: en_US
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/64575751420253625598

碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 99 === Standing long jumping is a kind of planar motion, and a jumping humanoid robot can be simplified as a four-link model if neglecting the swinging motion of arms. This study proposes a systematic method to generate the joint trajectories that enables the planar four-link robot to jump a prescribed distance from standing still. The vertical motion of the robot’s mass center is first determined by specifying ground reaction forces and the time spans of different motion phases. With jump distance prescribed, the horizontal motion of the mass center can be analytically solved on the basis of the ZMP criterion. The vertical and horizontal motions of the mass center yield the momenta of the robot for a desired jump. Since the momenta can be explicitly expressed in terms of the generalized velocities of joints and foot plate, the angular velocities of joints can be obtained by specifying the momenta and the generalized velocities of foot plate. The joints’ angular velocities are then integrated to determine the joint trajectories for a desired jump. Finally, Dynamic simulations of the robot are used to verify the validity and stability of the motion patterns generated by the algorithm. Discussions on the further improvements of the algorithm are also proposed.