Planar jumping with stable landing through foot orientation design and ankle joint control

• Main Authors: Yuan, Qilong, Chen, I-Ming
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/99966; http://hdl.handle.net/10220/16263
• Institution: Nanyang Technological University

This paper introduces a method to generate the planar jumping motion for biped robot. In this work, through determining the upper body posture trajectory in the flight phase, the foot landing posture is made to be flat while landing. Together with properly designing the trajectory for local center o...