Skip to main content
SpringerLink
Log in

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

  • Research Article
  • Published:
Frontiers of Mechanical Engineering Aims and scope Submit manuscript

Abstract

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 of gravity and the foot landing velocity, the soft landing trajectory is generated. A controller on the ankle joint is added to avoid significant impact with the ground and stabilize the robot after landing. Jumping motion with stable landing is achieved in a dynamic simulation environment based on this method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Sakagami Y, Watanabe R, Aoyama C, Matsunaga S, Higaki N, Fujimura K. The intelligent ASIMO: system overview and integration. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, 3: 2478–2483

    Article  Google Scholar 

  2. Hirai K, Hirose M, Haikawa Y, Takenaka T. The development of Honda humanoid robot. In: Proceedings of IEEE/International Conference on Robotics and Automation, 1998, 2: 1321–1326

    Google Scholar 

  3. Kaneko K, Kanehiro F, Hirukawa H, OTA S, Akachi K, Isozumi T. Humanoid robot HRP-2. Nippon Robotto Gakkai Gakujutsu Koenkai Yokoshu (CD-ROM), 2003, 21:3A32

    Google Scholar 

  4. Kaneko K, Kanehiro F, Kajita S, Yokoyama K, Akachi K, Kawasaki T, Ota S, Isozumi T. Design of prototype humanoid robotics platform for HRP. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, 3:2431–2436

    Article  Google Scholar 

  5. Ogura Y, Aikawa H, Lim H O, Takanishi A. Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist. In: Proceedings of IEEE International Conference on Robotics and Automation, 2004, 1: 134–139

    Google Scholar 

  6. Ogura Y, Aikawa H, Shimomura K, Morishima A, Hun-ok L, Takanishi A. Development of a new humanoid robot WABIAN-2. In: Proceedings of IEEE International Conference on Robotics and Automation, 2006, 76–81

  7. Ogura Y, Shimomura K, Kondo A, Morishima A, Okubo T, Momoki S, Hun-ok L, Takanishi A. Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 3976–3981

  8. Nishiwaki K, Kuffner J, Kagami S, Inaba M, Inoue H. The experimental humanoid robot H7: a research platform for autonomous behavior. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2007, 365(1850): 79–107

    Article  Google Scholar 

  9. Arikawa K, Mita T. Design of multi-DOF jumping robot. In: Proceedings of IEEE International Conference on Robotics and Automation, 2002, 4: 3992–3997

    Google Scholar 

  10. Sobotka M, Buss M. Locomotion studies for a 5DOF gymnastic robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, 3275–3280

  11. Nunez V, Nadjar-Gauthier N. Control strategy for vertical jump of humanoid robots. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, 2253–2258

  12. Goswami D, Vadakkepat P. Planar bipedal jumping gaits with stable landing. Robotics, IEEE Transactions, 2009, 25(5): 1030–1046

    Article  Google Scholar 

  13. Sakka S, Yokoi K. Humanoid vertical jumping based on force feedback and inertial forces optimization. In: Proceedings of IEEE International Conference on Robotics and Automation, 2005, 3752–3757

  14. Babic J, Lenarcic J. Optimization of biarticular gastrocnemius muscle in humanoid jumping robot simulation. International Journal of Humanoid Robotics, 2006, 3(2): 219–234

    Article  MATH  Google Scholar 

  15. Bokman L, Babic J, Park F C. Optimal jumps for biarticular legged robots. In: Proceedings of IEEE International Conference on Robotics and Automation, 2008, 226–231

  16. Sakagami Y, Watanabe R, Aoyama C, Matsunaga S, Higaki N, Fujimura K. The intelligent ASIMO: system overview and integration. In: Proceedings of IEEE International Conference on Intelligent Robotics and Automation, 2002, 3: 2478–2483

    Google Scholar 

  17. Yuan Q L, Chen I M. Simultaneous localization and capture with velocity information. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, 2011, 2935–2940

Download references

Author information

Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

    Qilong Yuan & I-Ming Chen

Authors
  1. Qilong Yuan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. I-Ming Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to I-Ming Chen.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Yuan, Q., Chen, IM. Planar jumping with stable landing through foot orientation design and ankle joint control. Front. Mech. Eng. 7, 100–108 (2012). https://doi.org/10.1007/s11465-012-0318-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11465-012-0318-3

Keywords

Search

Navigation