相対角加速度に基づく人型ロボットの前方跳躍動作の運動生成と制御における腕振り動作の有効性の検証

抄録

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.