2차원 공간에서 휴머노이드로봇의 공중제비동작

Abstract

This paper proposes a method with which a humaniod can perform a 2-D somersault motion. Our goal in this paper is to make the 2-D biped robot jump in place and dobackward somersault. The somersault motion is the motion where makes the body one full rotation in the air and lands on the ground. But if the angular momentum of the normally posed body is insufficient to rotate one full rotation in the air, the pose of the body has to be changed. To do this, a method to derive the change of the pose is proposed based on the angular momentum equation and define the relation between the equation. For this, the resolved momentum method(RMM) methid to derived joint motions bsed on the desired angular and linear momentums that was used. In this paper, the RMM was used to find the change of the pose for a successful somersault is proposed. Using the RMM and the RMM used to equation, the relative equation about the angular momentum, the change of the pose and the rotation of body can be made. In this paper, the method of jumping trajectory genertaion is proposed. By the method, the sufficient duration of flight and total angular momentum in the flight phase is guaranteed. This method was named the Extended Linear Inverted Pendulum Mode (E-LIPM). The E-LIPM is a kind of the inverted pendulum model. It can be generate the trajectory of the CoM that can be move vertical direction and control it’s total angular momentum. In the Landing motion, we applies the impedance control for the robot stability. When the robot contacts the ground after the jumping, the robot get very big reaction force from the ground. Then the robot state can be unstable. So the reaction force should be controlled. By the impedance control, the motion of the CoM is generated. So the reaction force can be controlled. We realize the performance in computer simulation. The algorithm is verified by the change of the performance.