Task-driven Support Polygon Reshaping for Humanoids
Task-driven Support Polygon Reshaping for Humanoids
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DOI：
10.1109/ichr.2006.321386
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发表时间：
2006-12
期刊：
影响因子：
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通讯作者：
E. Yoshida;O. Kanoun;Claudia Esteves;J. Laumond
中科院分区：
文献类型：
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作者：
E. Yoshida;O. Kanoun;Claudia Esteves;J. Laumond
在本文中，我们解决了一个任务驱动的运动生成方法，允许一个人形机器人，使全身运动，包括支持多边形重塑，以实现给定的任务。在所提出的方法中，广义逆运动学（IK）采用浮动基座产生的人形全身运动，使机器人完成任务，根据给定的优先级。在运动过程中，几个标准，如可操作性或末端执行器的位置误差进行跟踪。如果由于这些标准而无法完成所需的任务，则会激活支持多边形的几何规划器。然后，全身运动再次计算总是使用广义IK求解器，包括步进运动，实现变形的支持多边形，通过使用动态行走模式生成器。这种方法提供了一种方法来执行任务，不改变人形机器人的支持状态就无法完成。我们已经验证了所提出的框架，通过仿真和实验使用仿人机器人HRP-2
In this paper we address a task-driven motion generation method that allows a humanoid robot to make whole-body motions including support polygon reshaping to achieve the given tasks. In the proposed method, generalized inverse kinematics (IK) is employed with floating-base to generate humanoid whole-body motions that enable the robot to accomplish the tasks according to given priorities. During the motion, several criteria such as manipulability or end-effector position error are tracked. If the desired task cannot be done because of those criteria, a geometric planner for support polygon is activated. Then the whole-body motion is computed again always using the generalized IK solver including stepping motion that realizes the deformed support polygon by using dynamic walking pattern generator. This method provides a way to perform tasks that could not be done without changing the humanoid's support state. We have verified the proposed framework through simulations and experiments using humanoid robot HRP-2