Control strategy for vertical jump of humanoid robots

摘要

In this paper the problem of the vertical jump for humanoid robots is treated. A simplified model is used which captures the fact of the legs moving exactly side by side and that fixes the upper body in a given configuration. Then a simple control scheme based on sliding modes is presented. The vertical jump is executed maintaining the center of mass (CoM) of the whole robot above the ankle and forcing its trajectory tracking in the vertical direction. The absolute orientation of the foot is controlled during flight in order to land with flat foot.