Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization

— This paper proposes adapting human jumping dynamics to humanoid robotic structures. Data obtained from human jumping phases and decomposition together with ground reaction forces (GRF) are used as model references. Moreover, bodies inertial forces are used as task constraints while optimizing energy to determine the humanoid robot posture and improve its jumping performances.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Sophie Sakka, Kazuhito Yokoi
• Keywords: Human Jumping Dynamics, Human Jumping Phases, Humanoid Robotic Structures, ICRA 2005, Robotics