Generating Trajectories for Biped Robot Vertical Jumping

Eknath, Jagtap Akshay and R, Prasanth Kumar (2018) Generating Trajectories for Biped Robot Vertical Jumping. Masters thesis, Indian Institute of Technology, Hyderabad.

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Abstract

The primary objective of this work is to generate the trajectories for a biped robot vertical jumping. In this work four link planar biped robot is modelled using body coordinate formulation for kinematic and dynamic analysis. Jumping motion consist of three phases, stance phase, flight phase and landing phase. For stance phase constraint are introduced on vertical motion of CoM, on angular momentum and on zero moment point (ZMP) which is taken at the ankle to make the ankle torque zero so that we can ignore the foot. During flight phase floating model is used by considering the floating joint between the ground and foot. Constraints in flight phase are designed such that the CoM moves in a vertical direction. By performing kinematic and dynamic analysis constraint equation solution have been found for all the three phases. Simulation results have been presented for all three phases using MATLAB. Solutions obtained from simulation provide joint trajectories and joint torques required for selection of the actuators.

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