Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In this paper, we apply the generation and control of whole-body motion based on relative angular acceleration for a humanoid robot, which has been proposed so far, to the generation and control of forward jump, and evaluate the effect of arm swinging movement on the whole-body motion quantitatively from the simulation results. The arm swing movement realized by controlling the spatial acceleration at the tip of the arm in the preliminary motion phase before take-off of the forward jump caused an increase in the flight distance, a change in the angular momentum during the motion, and a decrease in the joint torques during take-off and landing.
