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ICRA
2005
IEEE

Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization

10 years 3 months ago
Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization
— 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.
Sophie Sakka, Kazuhito Yokoi
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Sophie Sakka, Kazuhito Yokoi
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