Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Approach to Hopping Pattern Generation for One-legged Robot

한다리 로봇의 뜀뛰기 패턴 생성에 관한 실험적 접근

  • 조백규 (국민대학교 기계시스템공학부)
  • Received : 2012.03.01
  • Accepted : 2012.07.26
  • Published : 2012.09.01
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Abstract

We introduce a pattern generation method for a hopping one-legged robot and verify it experimentally. The pattern is derived from the liner and angular momentum of a COM (Center of Mass), which are pre-scheduled. Because of the relation between angular velocities of joints and momemtums of the COM, joint angle trajectories are easily obtained. In addition, the landing impact force is reduced by only adjusting the landing timing. In the experiment, the one-legged robot hops in place with 0.06 s of flying time, and makes continuous hopping. Based on our experimental results, the proposed method can be applied to hopping and running of biped humanoid robots.

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References

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