Skilled-motion plannings of multi-body systems based upon Riemannian distance
Skilled-motion plannings of multi-body systems based upon Riemannian distance
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DOI：
10.1109/robot.2008.4543372
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发表时间：
2008-05
期刊：
影响因子：
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通讯作者：
M. Sekimoto;S. Arimoto;S. Kawamura;J. Bae
中科院分区：
文献类型：
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作者：
M. Sekimoto;S. Arimoto;S. Kawamura;J. Bae
本文重点介绍黎曼距离及其在系统熟练运动规划中的应用。从一个姿势到另一个姿势的黎曼距离（反之亦然）被定义为基于连接两个姿势的所有曲线之间的系统惯性矩阵的黎曼度量测量的最小曲线长度。在这个意义上，最小长度曲线被称为“测地线”，反映了仅受惯性张量产生的力（即纯惯性、离心力和科里奥利力）影响的系统运动。为了详细研究这种沿着测地线的运动，在四自由度机器人手臂的平面运动和全身机器人的双足行走的情况下进行了一些计算机模拟。仿真结果表明，当选择人体规模的机器人模型时，两种情况下达到黎曼距离的运动（惯性动作中的自然运动）往往与人类熟练运动相似。基于黎曼距离，讨论了使用其自身物理结构固有的物理属性的多体系统的运动规划。
This paper focuses on the Riemannian distance and its application to skilled-motion plannings for the system. The Riemannian distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.