Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator
Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator
复制标题
使用半人马型人形机器人进行多接触重物推动：真实演示器的规划和控制
DOI：
10.1109/lra.2020.2965906
复制
发表时间：
2020
影响因子：
5.2
通讯作者：
N. Tsagarakis
中科院分区：
文献类型：
--
作者：
Matteo Parigi Polverini;Arturo Laurenzi;E. Hoffman;Francesco Ruscelli;N. Tsagarakis
用多腿式现场操纵平台执行要求高的操纵任务可能需要利用与不同环境表面的多个外部接触来抵消操纵力。这是一个沉重的物体的推动任务的情况下，在地面上的抓地力可能是不够的，并建立腿接触靠墙证明是一个有效的解决方案的操纵问题。为了产生这样的行为，这封信提出了一个控制架构，能够自由地利用环境的复杂性来执行本地操作的动作，例如，推动一个沉重的对象，同时满足实现要求，以实现一个真实的演示。所提出的方法，设想为扭矩控制平台，结合规划能力的非线性优化的机器人质心静力学，基于连续描述的环境，通过超二次函数，与瞬时能力的分层逆运动学和反应接触力分布。实验验证已进行的推动任务的木柜装砖，使用CENTAURO机器人在意大利理工学院（IIT）开发的。
Performing a demanding manipulation task with a multi-legged loco-manipulation platform may require the exploitation of multiple external contacts with different environment surfaces for counteracting the manipulation forces. This is the case of the pushing task of a heavy object, where the grip forces at ground may not be adequate and establishing leg contacts against a wall turns out to be an effective solution to the manipulation problem. In order to produce such behaviour, this letter presents a control architecture that is able to freely exploit the environment complexity to perform loco-manipulation actions, e.g. pushing a heavy object, while meeting the implementation requirements to achieve a real demonstrator. The proposed approach, conceived for torque-controlled platforms, combines the planning capabilities of nonlinear optimization over the robot centroidal statics, based on a continuous description of the environment through superquadric functions, with the instantaneous capabilities of hierarchical inverse kinematics and reactive contact force distribution. Experimental validation has been performed on the pushing task of a wooden cabinet loaded with bricks, using the CENTAURO robot developed at Istituto Italiano di Tecnologia (IIT).
影响因子：
7.8
作者：
Kanoun, Oussama;Lamiraux, Florent;Wieber, Pierre-Brice
通讯作者：
Wieber, Pierre-Brice