Vertical Jumping Control of an Acrobat Robot with Consideration of Input Timing

Naoyuki Shiraishi; Yasuyuki Kawaida; Yuji Kitamura; Shigeki Nakaura; Mitsuji Sampei

doi:10.11499/sicep.2002.0.558.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.558.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Vertical Jumping Control of an Acrobat Robot with Consideration of Input Timing

Naoyuki Shiraishi, Yasuyuki Kawaida, Yuji Kitamura, Shigeki Nakaura, Mitsuji Sampei

Author information

Keywords: Acrobat Robot, Vertical Jump, Input Timing

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 558

Details

Abstract

For an Acrobat Robot which is a small humanoid robot, out purpose is to make it jump vertically toward a horizontal bar. In order to realize efficient jump, it is important to set a step input timing according to the response of the input by PD control. This validity is confirmed by a simulation with simplified 3 link model and an experiment using Acrobat Robot.

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