Two legged jumping simulation and experiment on biped robot MARI-3

Abstract

In recent years, various control methodologies are reported in the field of biped fast mobility. Most of these reports have focused on the whole body motion generation and overall stability. While considering aforementioned issues, running motion appears to be a very important movement, as it is the combination of fast walking and jumping cycles. Therefore, in this paper, we proposed a control method based on the idea of manipulating Center of Gravity(COG) point in real time to be able to realize this purpose. Our proposed method is verified by 3-D dynamic simulations and experiments. Moreover, an additional method which is based on controlling the angular momentum around COG is proposed and verified in simulation and experiment.