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Vertical jump movement generators usually apply the ZMP (Zero Moment Point) and/or angular momentum equations as restrictions when planning the movements of the robot joints, which can cause undesired oscillations in the torso, compromise accuracy of the jump and/or complicate the search for online solutions. This paper presents a strategy to solve the problem related to angular momentum generated...
The objective of this research is to analyze humanoid's jumping and landing motions on a view point of arms' dynamical coupling onto jumping. Humans seem to use arms' swinging for walking or running effectively and jump highly by swinging up arms high. So, we gave input torques to arms in such a way as to swing arms similar to humans, and changed timing to start swinging them, comparing them with...
Movement functional analysis of vertical jump allows to quantify the motor capabilities of lower limbs and so to determine the performance level and the effectiveness of the trial programs. Force platforms and stereophotogrammetric systems are the reference instruments, but they cannot be used in "non-structured" environments. In this study a novel measurement system, able to give objective...
This paper deals with the generation of motion pattern for humanoid robots vertical jump. The study concentrates on the landing phase of the jump which is the most demanding for the system because of high discontinuity of acceleration at impact time. We first decompose the motion in two functions. The first one starts just before landing and consists in maximizing the value of the discontinuity by...
Movement functional analysis of vertical jump allows to quantify the motor capabilities of lower limbs and so to determine the performance level and the effectiveness of the trial programs. Force platforms and stereophotogrammetric systems are the reference instruments, but they cannot be used in "non-structured" environments. In this study a novel measurement system, able to give objective...
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