Preliminary communication
Trajectory planning of jumping over an obstacle for one-legged jumping robot
Zhaohong Xu
; School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, CHINA
Tiansheng Lu
; School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, CHINA
Xuyang Wang
; School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, CHINA
Fang Ling
; School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, CHINA
Abstract
For one-legged passive jumping robot, a trajectory planning strategy is developed to jump over an obstacle integrating three various dynamics among jumping process. Manipulability ellipsoids are effective tools to perform task space analysis and motion optimization of redundant manipulators. Jumping robot can be considered as a redundant manipulator with a load held at the end-effector. The concept of inertia matching ellipsoid and directional manipulability is extended to optimize the take-off posture of jumping robot, and the optimized results have been used to plan jumping trajectory. Aimed at the sensitivity of a trajectory to constraint conditions on point-to-point motion planning, the 6th order polynomial function is proposed to plan jumping motion having a better robustness to the parameters change of constraint conditions than traditional 5th order polynomial function. In order to lift the foot over the obstacle, correction functions are constructed under unchanged boundary constraint conditions. Furthermore, the body posture is controlled based on internal motion dynamics and steady-state consecutive jumping motion principle. A prototype model is designed, and the effectiveness of the proposed method is confirmed via
simulations performed on parameters of designed prototype.
Keywords
jumping robot; inertia matching; trajectory planning; robust polynomial; correction function
Hrčak ID:
185924
URI
Publication date:
27.11.2009.
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