Optimal Standing Jump Trajectory Generation for Biped Robots

One of the disadvantages of biped robots is the slow movement. Jumping or running can be the solution to this. This paper describes an optimal jump trajectory generation method for biped robots. In order to conveniently create a jumping trajectory, the center of mass trajectory of the robot was divided into vertical and horizontal directions. The vertical trajectory was designed to maintain the desired flight time by considering a capacity of a actuator and the impact force at landing. The horizontal trajectory was designed to conform to the desired horizontal COM velocity at takeoff while maintaining the desired zero moment point by using preview control. We also considered the friction force between the robot and the ground and the region of motion of the robot. This process was defined as a nonlinear optimization problem, and the optimal jump trajectory was obtained. The trajectory was verified by simulation and standing jump experiment of an actual humanoid robot.