Analyses of jumping motion of humanoid robot using arms' swinging

Jumpei Nishiguchi, Mamoru Minami, Akira Yanou, Takayuki Matsuno, Tomohide Maeba

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages496-501
Number of pages6
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Fingerprint

Landing
Torque
Robots
Computer simulation

Keywords

  • Arms' swing
  • Constraint motion
  • Vertical jump

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Nishiguchi, J., Minami, M., Yanou, A., Matsuno, T., & Maeba, T. (2012). Analyses of jumping motion of humanoid robot using arms' swinging. In Proceedings of the SICE Annual Conference (pp. 496-501). [6318490]

Analyses of jumping motion of humanoid robot using arms' swinging. / Nishiguchi, Jumpei; Minami, Mamoru; Yanou, Akira; Matsuno, Takayuki; Maeba, Tomohide.

Proceedings of the SICE Annual Conference. 2012. p. 496-501 6318490.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nishiguchi, J, Minami, M, Yanou, A, Matsuno, T & Maeba, T 2012, Analyses of jumping motion of humanoid robot using arms' swinging. in Proceedings of the SICE Annual Conference., 6318490, pp. 496-501, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Nishiguchi J, Minami M, Yanou A, Matsuno T, Maeba T. Analyses of jumping motion of humanoid robot using arms' swinging. In Proceedings of the SICE Annual Conference. 2012. p. 496-501. 6318490
Nishiguchi, Jumpei ; Minami, Mamoru ; Yanou, Akira ; Matsuno, Takayuki ; Maeba, Tomohide. / Analyses of jumping motion of humanoid robot using arms' swinging. Proceedings of the SICE Annual Conference. 2012. pp. 496-501
@inproceedings{79c0be091f8547d696625375dfb6177b,
title = "Analyses of jumping motion of humanoid robot using arms' swinging",
abstract = "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 humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.",
keywords = "Arms' swing, Constraint motion, Vertical jump",
author = "Jumpei Nishiguchi and Mamoru Minami and Akira Yanou and Takayuki Matsuno and Tomohide Maeba",
year = "2012",
language = "English",
isbn = "9781467322591",
pages = "496--501",
booktitle = "Proceedings of the SICE Annual Conference",

}

TY - GEN

T1 - Analyses of jumping motion of humanoid robot using arms' swinging

AU - Nishiguchi, Jumpei

AU - Minami, Mamoru

AU - Yanou, Akira

AU - Matsuno, Takayuki

AU - Maeba, Tomohide

PY - 2012

Y1 - 2012

N2 - 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 humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.

AB - 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 humanoid's motion that does not swing the arms through numerical simulation. Then we have confirmed that appropriate swinging motions of arms help the jumping to be higher than those without arms' swinging.

KW - Arms' swing

KW - Constraint motion

KW - Vertical jump

UR - http://www.scopus.com/inward/record.url?scp=84869452865&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84869452865&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84869452865

SN - 9781467322591

SP - 496

EP - 501

BT - Proceedings of the SICE Annual Conference

ER -