NDLI: Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation

Content Provider	IEEE Xplore Digital Library
Author	Van Heerden, K. Kawamura, A.
Copyright Year	2012
Description	Author affiliation: Department of Electrical and Computer Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogayaku, Yokohama 240-8501, Japan (Van Heerden, K.; Kawamura, A.)
Abstract	This paper presents the initial research for a framework by which a biped robot can make a navigation plan in a obstacle filled environment by performing both walking and jumping motions. In particular this paper focuses on automatically creating a jumping trajectory based on the distance that the robot is required to jump. This jumping trajectory considers angular momentum so as to reduce backwards jumping and spinning of the base in the air, this is done with the Eulerian ZMP resolution method(EZR). Additionally this trajectory also considers compliance at the landing foot to avoid manipulator damage while ensuring that the robots support foot is extended just the right distance to let a inverted pendulum model with non constant height reach the top with zero kinetic energy remaining. The path planner is based on the A-Star path planning algorithm. The navigation plan also considers finding a path which is sufficiently straight prior to the moment of jumping so that the robot can build up the required linear momentum to execute the jump. The ultimate goal is to create a framework which can consider path planning with various types of motion.
Starting Page	1
Ending Page	6
File Size	1265341
Page Count	6
File Format	PDF
ISBN	9781457710728
e-ISBN	9781457710735
e-ISBN	9781457710711
DOI	10.1109/AMC.2012.6197122
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-25
Publisher Place	Bosnia and Herzegovina
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Foot Force Legged locomotion path planning Biped robot jumping
Content Type	Text
Resource Type	Article

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