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dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorKawamura, A.
dc.date.accessioned2021-08-09T12:07:18Z
dc.date.available2021-08-09T12:07:18Z
dc.date.issued2010-05-01
dc.identifier.issn0278-0046en_US
dc.identifier.urihttp://hdl.handle.net/10679/7507
dc.identifier.urihttps://ieeexplore.ieee.org/document/5256313
dc.description.abstractThis paper is aimed at presenting a method to generate online jumping patterns, which can be applied to one legged jumping robots and optionally to humanoid robots. Our proposed method is based on ensuring the overall dynamic balance through the complete jumping cycle. To be able to reach this goal, we discretized the ZMP equation in polar coordinates so that we are able to include angular momentum information in a natural way. Thus, undesired torso angle fluctuation is expected to be more restrainable comparing to other methods in which angular momentum information is ignored or zero-referenced. Moreover, we unified support and flight phases in terms of motion generation. Having obtained successful simulation results and vertical jumping experiments in our previous work, we conducted forward jumping experiments. As the result, we obtained successful and repetitive jumping cycles, which satisfactorily verify the proposed method.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE Transactions on Industrial Electronicsen_US
dc.rightsopenAccess
dc.titleZMP-based online jumping pattern generation for a one-legged roboten_US
dc.typeArticleen_US
dc.description.versionPost printen_US
dc.peerreviewedyesen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.volume57en_US
dc.identifier.issue5en_US
dc.identifier.startpage1701en_US
dc.identifier.endpage1709en_US
dc.identifier.wosWOS:000276680000023
dc.identifier.doi10.1109/TIE.2009.2032439en_US
dc.subject.keywordsRoboticsen_US
dc.subject.keywordsLegged locomotionen_US
dc.identifier.scopusSCOPUS:2-s2.0-77951182876
dc.contributor.authorMale1
dc.relation.publicationcategoryArticle - International Refereed Journal - Institutional Academic Staff


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