Squat Vertical Jump of a 3DOF Robot Leg over an Inclined Plane: Analysis with Joint Torque Profile Approximation

摘要

This work shows an analysis of the movement of a robot with an articulated leg (without a toe) of 3 degrees of freedom (3DOF) when performing a squat vertical jump over an inclined plane. We propose two different approaches to model this problem. The first method estimates the ankle position and foot orientation at the landing time, using the non-zero angular momentum and the plane tilt angle; thus, the foot orientation can be corrected during the time in the air, which achieves greater contact area when the robot land. The second method adjusts the relative position of the CoM (Center of Mass) to the horizontal axis in order to infer the joint torque profile in different tilt angles of the plane. Matlab simulation results show that, the ankle is the most affected joint whereas the plane tilts with the same jump pattern. Having a range of inclination values of ± π/18, the torque variation changes from 35.82% to 2.59%, which proves the efficiency of the evaluated cases.