Integration of non-inclusive contacts in posture generation
Integration of non-inclusive contacts in posture generation
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DOI：
10.1109/iros.2014.6942671
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发表时间：
2014-11
期刊：
影响因子：
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通讯作者：
Stanislas Brossette;Adrien Escande;Joris Vaillant;François Keith;Thomas Moulard;A. Kheddar
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文献类型：
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作者：
Stanislas Brossette;Adrien Escande;Joris Vaillant;François Keith;Thomas Moulard;A. Kheddar
在本文中，我们提出了一个简单的方法来制定几何接触形成有一个任意的交叉形状的机器人（人形）的姿态生成问题。接触形状是我们的姿态生成器的结果，该生成器被公式化为非线性优化编程，以满足各种机器人固有限制（例如关节和扭矩限制）和任务（例如期望的接触）。首先定义机器人身体和环境上的接触凸区域，我们称之为接触贴片，我们可以生成与任何这些预定义贴片中的任意一对相交的接触。我们的几何接触建模非常简单，即将额外的约束和变量添加到优化问题中，从而将搜索转化为内切于我们想要接触的一对曲面片的相交处的椭圆。我们的姿势生成器的结果是这样一种配置，其中接触贴片不一定包括在另一个中。这使得我们的姿态生成器能够提出具有非预定义数量的接触点的不同形状的接触（稍后用于计算反作用力/接触力）。我们说明了我们的方法的效率，在多接触姿态生成HRP-2和ATLAS人形机器人与现有的方法不能自动生成的结果。
In this paper we propose a simple way to formulate geometric contact formation to have an arbitrary intersection shape in a robotic (humanoid) posture generation problem. The contact shape is the outcome of our posture generator that is formulated as a non-linear optimization programming to fulfill a large variety of robot intrinsic limitations (e.g. joint and torque limits) and tasks (e.g. desired contact). Starting by defining convex areas of contact on the robot's body and the environment, that we call contact patches, we can generate contacts with arbitrary intersection of a pair of any of these predefined patches. Our geometric contact modeling writes very simply as additional constraints and variables added to the optimization problem, translating the search for an ellipse inscribed in the intersection of the pair of patches we want in contact. The result of our posture generator is then a configuration where contact patches are not necessarily included in one another. This allows our posture generator to propose contacts of different shapes with a non-predefined number of contact points (used later to compute reaction/contact forces). We illustrate the efficiency of our method in multi-contact posture generation with the HRP-2 and ATLAS humanoid robots with results that can not be generated automatically by existing methods.