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IJMERR 2022 Vol.11(3): 145-150

A Study on Kicking Motion Strategy for a Legged Robot

Masashi Nakamura 1, Takao Muromaki 2, and Takateru Urakubo 3
1. Faculty of Advanced Engineering, National Institute of Technology, Maizuru College, Kyoto, Japan
2. Department of Mechanical Engineering, National Institute of Technology, Maizuru College, Kyoto, Japan
3. Department of Information Science, Kobe University, Kobe, Japan

Abstract—For generating a translational motion of a robot in a horizontal plane or under microgravity, it is possible to utilize an impact force between the end-effector and a surface such as a wall and the ground. In this paper, we consider a legged robot consisting of four links that pushes a certain surface to obtain a translational momentum in a horizontal plane. The motion that maximizes the momentum is searched for, under the condition that the torque consumption during it is the same, by numerical optimization. The optimization results indicate that the motion with an impact force that is caused by hitting the surface is advantageous in increasing the translational momentum.  
 
Index Terms—motion planning, differential evolution, impact force


Cite: Masashi Nakamura, Takao Muromaki, and Takateru Urakubo, "A Study on Kicking Motion Strategy for a Legged Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 3, pp. 145-150, March 2022. DOI: 10.18178/ijmerr.11.3.145-150

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.