Self-collision avoidance and angular momentum compensation for a biped humanoid robot
Self-collision avoidance and angular momentum compensation for a biped humanoid robot
复制标题
DOI：
10.1109/icra.2011.5980350
复制
发表时间：
2011-05
期刊：
影响因子：
--
通讯作者：
Markus Schwienbacher;Thomas Buschmann;S. Lohmeier;V. Favot;H. Ulbrich
中科院分区：
文献类型：
--
作者：
Markus Schwienbacher;Thomas Buschmann;S. Lohmeier;V. Favot;H. Ulbrich
为了简化具有许多关节的人形机器人的新轨迹的开发，检查潜在碰撞的能力至关重要。更重要的是，为了能够在线生成全身运动等一般运动，必须采用碰撞避免，这通常更具挑战性。本文提出了一种基于模型的高效的机器人连杆间距离在线计算方法。为了避免碰撞，将结果投影到基于Liégeois冗余分解框架的逆运动学的零空间项中。此外，提出了一种利用手臂运动减小步行机器人垂向角动量的新方法。它降低了步行机器人的垂直角动量，特别是对于较大的步骤。由于该方法也适用于零空间，它可以很容易地结合所提出的碰撞避免计划。最后，所提出的方法与机器人萝拉的模拟和实验结果。
To simplify the development of new trajectories for a humanoid robot with many joints, the ability to check for potential collisions is crucial. More importantly, to enable online generation of general motions, such as whole-body-motion, collision avoidance must be employed, which is usually more challenging. In this paper, a model-based and efficient on-line distance calculation between links of the robot is proposed. To avoid collisions the results are projected into the null-space term of the inverse-kinematics which is based on the redundancy resolution framework of Liégeois. Additionally, a novel method to reduce the vertical angular momentum for a walking biped robot which uses the arm motion is proposed. It reduces the vertical angular momentum of the walking robot especially for larger steps. Since the method also works in the null-space, it can easily be combined with the proposed collision avoidance scheme. Finally, results for the proposed methods from simulations and experiments with the robot Lola are shown.