By Topic

ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Barkan Ugurlu ; Department of Electrical and Computer Engineering, Yokohama National University, Yokohama , Japan ; Atsuo Kawamura

This paper is aimed at presenting a method to generate online jumping patterns, which can be applied to one-legged jumping robots and optionally to humanoid robots. Our proposed method is based on ensuring the overall dynamic balance through the complete jumping cycle. To be able to reach this goal, we discretized the zero moment point equation in polar coordinates so that we are able to include angular momentum information in a natural way. Thus, undesired torso angle fluctuation is expected to be more restrainable compared to other methods in which angular momentum information is ignored or zero referenced. Moreover, we unified support and flight phases in terms of motion generation. Having obtained successful simulation results and vertical jumping experiments in our previous work, we conducted forward jumping experiments. As the result, we obtained successful and repetitive jumping cycles, which satisfactorily verify the proposed method.

Published in:

IEEE Transactions on Industrial Electronics  (Volume:57 ,  Issue: 5 )