An approach of generic solution for humanoid stepping over motion
An approach of generic solution for humanoid stepping over motion
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DOI：
10.1109/ichr.2010.5686345
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
M. Arbulú;A. Kheddar;E. Yoshida
中科院分区：
文献类型：
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作者：
M. Arbulú;A. Kheddar;E. Yoshida
本文研究了一种仿人机器人跨步运动的新方法。它涵盖了运动学和动力学问题，关于在两种通用足迹之间围绕任何尺寸和结构的障碍物进行动态稳定踩踏运动的发展。该方法考虑了几何约束，采用了定向边界框（OBB）、基于ZMP和接触扳手的动力学约束。通过HRP-2型人形机器人平台的仿真和实际测试，验证了该方法的有效性。
This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based and contact wrench dynamical constraints. This approach is validated successfully, by simulation and actual tests on the HRP-2 humanoid robot platform.