Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
In this paper, we have simulated and analyzed a forward jump motion using our proposed method of generating and controlling whole-body motion based on angular momentum distribution, and evaluated the effect of arm swing movement on the whole-body motion from the results. Consequently, two important points become clear. One is that by utilizing the arm swing movement controlled by the reference values of the spatial acceleration and the rate of change of the system angular momentum at the tips of both hands, it is possible to generate an appropriate posture to tilt the upper body forward in the preliminary movement before takeoff without giving the desired value directly to the waist. The other is that the ground reaction force and the joint torques at the hip, knee, and ankle joints around the y-axis of each leg are reduced by the condition of slightly negative system angular momentum at takeoff.
