Abstract
Humanoid robots have recently been the subject of many new and interesting fields both in robotics research and industry. The wide variety of their applications in civic and hostile environments demand developing approperiate theoretical models for analysis. A dynamical model was developed to study the human jumping process, and the effect of factors like joint speeds and hand motion in jumping. An experiment was designed and setup to compare the theoretical model with experimental observations. Time histories of vertical force, mass center velocity and driving torques were also obtained. Using dynamical equations, the effect of joint speeds on the maximum values of these quantities is discussed. It was shown that reducing the joint speeds of a body could lead to an unsuccessful jump in which the body would not enter the flight phase. An increase in speed reduced the take-off time (the time necessary for the body to leave the ground) and increased the body's linear velocity at take-off, as well as the maximum value of driving torques. Effect of hand motion was also investigated through suppressing motion of the shoulder and elbow. It was observed that hand motion had an improving effect on the body's linear velocity. Although speed of joints did not show to have a great influence on most joint torques, those at the shoulder and elbow were observed to be more sensitive to it.
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Meghdari, A., Aryanpour, M. Dynamic Modeling and Analysis of the Human Jumping Process. Journal of Intelligent and Robotic Systems 37, 97–115 (2003). https://doi.org/10.1023/A:1023911408496
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DOI: https://doi.org/10.1023/A:1023911408496