Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate
Extended Three-Dimensional Walking and Skating Motion Generation for Multiple Noncoplanar Contacts With Anisotropic Friction: Application to Walk and Skateboard and Roller Skate
复制标题
具有各向异性摩擦的多个非共面接触的扩展三维步行和滑冰运动生成：在步行、滑板和轮滑中的应用
DOI：
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发表时间：
2019
影响因子：
5.2
通讯作者：
M. Inaba
中科院分区：
文献类型：
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作者：
Noriaki Takasugi;Kunio Kojima;Shunichi Nozawa;Fumihito Sugai;Kakiuchi Yohei;K. Okada;M. Inaba
在这封信中，我们提出了一个三维（3-D）的步行和滑冰运动生成方法，以实现连续的步行和滑冰运动与滑板和旱冰鞋。为了利用被动轮产生连续稳定的滑行运动，我们必须处理具有各向异性摩擦的非共面接触。因此，我们使用接触扳手锥（CWC）考虑复杂的接触状态，并引入新的终端约束，使用CWC和运动的发散分量，这保证了稳定的步行和滑冰运动的3-D质心轨迹生成。应用所提出的方法，真人大小的人形JAXON可以成功地以0.6 [m/s]的速度行走，并以1.0 [m/s]的速度用滑板和旱冰鞋滑冰。
In this letter, we propose a three-dimensional (3-D) walking and skating motion generation method to achieve sequential walking and skating motion with skateboard and roller skate. For generating the sequential stable skating motion using a passive wheel, we must deal with non-coplanar contacts with anisotropic friction. Therefore, we use contact wrench cone (CWC) for considering complex contact states and introduce the novel terminal constraints using the CWC and divergent component of motion, which guarantee the stability of both walking and skating motion in the 3-D center of mass trajectory generation. Applying proposed method, the life-sized humanoid JAXON could successfully walk at 0.6 [m/s] and skate with skateboard and roller skate at 1.0 [m/s].