Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation

@article{Heerden2012TowardsIW,
  title={Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation},
  author={Kirill Van Heerden and Atsuo Kawamura},
  journal={2012 12th IEEE International Workshop on Advanced Motion Control (AMC)},
  year={2012},
  pages={1-6}
}
This paper presents the initial research for a framework by which a biped robot can make a navigation plan in a obstacle filled environment by performing both walking and jumping motions. In particular this paper focuses on automatically creating a jumping trajectory based on the distance that the robot is required to jump. This jumping trajectory considers angular momentum so as to reduce backwards jumping and spinning of the base in the air, this is done with the Eulerian ZMP resolution… CONTINUE READING

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