Motion Generation and Control of Acrobatic Motion Synergies Emerging From the Momentum Equilibrium Principle

A method for distribution of the desired angular momentum of the robot among the body segments is described. The optimization problem is solved with the help of weights that are proportional to the moments of inertia of the body segments. The method is implemented with the Relative Angular Acceleration (RAA) controller, whereby emergent movements are generated in the pelvis, torso and arms. It is shown that these movements yield a human-like performance of highly dynamic tasks such as flips, long jumps and jumps with twist. The validity of the method and its generality as well as the robustness of the control approach were confirmed with simulations.