Realization of Running for Humanoid Running Robot in Sagittal Plane
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Abstract
A new method based on the "virtual leg" is presented which can realize the running of humanoid running robot in sagittal plane.Firstly,the trajectory of center of mass(COM) of the robot is planned by solving the two dimensional dynamic equations of "virtual leg" in jumping phase,and the COM of robot moves like a free falling body in the air in flight phase.Then the trajectories of two feet and two arms are planned,and the kinematic parameters are calculated by solving the nonlinear equations set with Newton-Raphson algorithm.Finally,torque of each joint is achieved according to the dynamic equation.The simulation results show that the angle and torque of each joint change smoothly and the stability margin is high.The running robot can run at a speed of 1.2m/s in horizontal direction.So the running of the robot is designed rationally.
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