{"title":"虚拟弹簧原理单腿跳","authors":"A. Kawamura, Chi Zhu","doi":"10.1109/ICHR.2008.4755928","DOIUrl":null,"url":null,"abstract":"One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved with our developed biped robot MARI-3.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"One-leg jumping with virtual spring principle\",\"authors\":\"A. Kawamura, Chi Zhu\",\"doi\":\"10.1109/ICHR.2008.4755928\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved with our developed biped robot MARI-3.\",\"PeriodicalId\":402020,\"journal\":{\"name\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICHR.2008.4755928\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICHR.2008.4755928","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
One-leg jumping of a biped robot with virtual spring principle is proposed and experimentally implemented. A biped robot is modeled and controlled as a simple mass-spring system, and its trajectories for jumping and landing are consequently planned as the mass-spring system. The jumping condition and necessary constraint conditions are deduced. Finally one-leg jumping of 130[ms] flight time is achieved with our developed biped robot MARI-3.
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