Analyses of Jumping Motion of Humanoid Robot Using Arms' Swinging

被引：0

作者：

Nishiguchi, Jumpei ^{[1
]}

Minami, Mamoru ^{[1
]}

Yanou, Akira ^{[1
]}

Matsuno, Takayuki ^{[1
]}

Maeba, Tomohide ^{[1
]}

机构：

[1] Okayama Univ, Grad Sch Nat Sci & Technol, Okayama 7008530, Japan

来源：

2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) | 2012年

关键词：

Vertical jump; Constraint motion; Arms' swing;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The objective of this research is to analyze humanoid's jumping and landing motions on a view point of arms' dynamical coupling onto jumping. Humans seem to use arms' swinging for walking or running effectively and jump highly by swinging up arms high. So, we gave input torques to arms in such a way as to swing arms similar to humans, and changed timing to start swinging them, comparing them with humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.

引用

页码：496 / 501

页数：6

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