Jumping motion planning for biped robot based on hip and knee joints coordination control

This paper proposes a method of hip and knee joints coordination control planning based on virtual force. Firstly, the kinematic model of biped robot is established according to the physiological structure of human body. Secondly, the kinematics equation is established based on the jumping motion characteristics of the hip and knee joints, and the motion angles and angular velocities of the hip and knee joints are solved by inverse kinematics. Then, in order to optimize the motion posture, balance the driving power of the joints, and reduce the driving burden of the knee joint, a coordinated hip-knee joint control strategy and its implementation method for biped robot jumping motion are proposed based on virtual force control method. Finally, the effectiveness of the proposed method is verified by comparing and analyzing the simulation data of biped robot with the measurement data of human motion.