Control of Humanoid Hopping Based on a SLIP Model

摘要: Humanoid robots are poised to play an ever-increasing role in society over the coming decades. The structural similarity of these humans makes them natural candidates for applications such as elder care or search and rescue spaces designed human occupancy. These currently, however, do not have capability fast dynamic movements which may be required quickly recover balance traverse challenging terrains. Control a basic movement, hopping, is studied here through simulation experiments on 26 degree freedom humanoid model. Center mass trajectories planned with spring-loaded inverted pendulum (SLIP) model tracked task-space controller. Unauthored arm emerge from approach produce continuous hopping at 1.5 m/s.