Motion Planning of Launching Stage for Multi-joint Jumping Robot

摘要

A motion planning method is discussed with respect to the launching stage of multi-joint jumping robot which has redundant and passive joints. In the proposed method, joint trajectories are generated in a combination of parameterized trajectories and a numerical optimization method named MOPSO (Multiobjective Particle Swarm Optimization) under several constraints. Moreover, minimizing energy consumption during launching stage and maximizing the speed of mass center at the lift-off moment are used as optimization objective to achieve motion planning and improve jumping performances of the robot. The validity of the method is evaluated by numerical simulations.