Communication Dans Un Congrès Année : 2005

Humanoid Vertical Jumping based on GRF and Inertial Forces Optimization

Résumé

This paper proposes adapting human jumping dynamics to humanoid robotic structures. Data obtained from human jumping phases and decomposition together with ground reaction forces (GRF) are used as model references. Moreover, bodies inertial forces are used as task constraints while optimizing energy to determine the humanoid robot posture and improve its jumping performances.

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Dates et versions

hal-00289584 , version 1 (05-05-2011)

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  • HAL Id : hal-00289584 , version 1

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Sophie Sakka, Kazuhito Yokoi. Humanoid Vertical Jumping based on GRF and Inertial Forces Optimization. IEEE International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. ⟨hal-00289584⟩
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