Dynamics modeling and trajectory tracking control for humanoid jumping robot

Abstract

Abstract:- Jumping or running belong to a non-regular motion in humanoid robot field. Stance phase has only the holonomic constraints, nevertheless flight phase has the holonomic and non-holonomic constraints. The relationship between angular moment and cyclic coordinate is analyzed by dynamics equations. The impact model is expatiated by transferring dynamics equation from flight phase to stance phase, and the impact force and velocity is obtained by Jacobian matrix. The method of eliminating shock is discussed. Finally, trajectory tracking using hybrid model of the adaptive fuzzy control and computed torques is studied on model with parametric uncertainty. The hybrid control system proves to be asymptotical stabilization by Lyapunov stability theory. The numerical simulation and experimental results show computed torque controller is valid for jumping movement. Key-Words:- jumping robot, dynamics modeling, non-regular motion, trajectory tracking 1