Humanoid Vertical Jumping based on GRF and Inertial Forces Optimization

Sophie Sakka (1) , Kazuhito Yokoi (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 JRL - Joint Japanese-French Robotics Research Laboratory [Japon]

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.

Mots clés: Humanoid robotics; jumping pattern generation; inertia optimization

Domaines: Automatique / Robotique

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⟩