A Study on Jumping Motion of a Legged Robot with Efficient Energy Supply near Singular Configuration
This paper investigates the optimal jumping motion of a legged robot composed of one leg and a body by numerical simulations in order to demonstrate an effective use of singular configurations.The time integral of joint torques by the time when the toe takes off the ground is minimized under the condition that the torques supply a fixed amount of energy to the body.The vertical position of the body is parameterized by piecewise 5th order spline functions of time, and the parameters of spline functions and the initial posture of the robot are obtained through numerical optimization.For the optimized motion, the final posture is close to the singular configuration where the leg is fully extended.We discuss that the joint torques can generate energy efficiently near the singular configuration.
Jumping Motion Singular Configuration Spline Function
Wan Xianglong Takateru Urakubo Yukio Tada
Dept.of Systems Science,Graduate School of System Informatics,Kobe University,657-8501,Kobe,Japan
国际会议
黄山
英文
1-6
2012-06-18（万方平台首次上网日期，不代表论文的发表时间）