Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit
Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit
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DOI：
10.1109/iros.2016.7759123
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发表时间：
2016-10
期刊：
影响因子：
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通讯作者：
Yuta Kojio;Tatsushi Karasawa;Kunio Kojima;Ryo Koyama;Fumihito Sugai;Shunichi Nozawa;Youhei Kakiuchi;K. Okada;M. Inaba
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文献类型：
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作者：
Yuta Kojio;Tatsushi Karasawa;Kunio Kojima;Ryo Koyama;Fumihito Sugai;Shunichi Nozawa;Youhei Kakiuchi;K. Okada;M. Inaba
在本文中，我们开发了一种用于人形机器人的防水服，并提出了一种水下行走控制方法。虽然很少有真人大小的人形机器人是完全防水的，但我们可以通过给这些人形机器人穿上防水服，轻松地使它们防水。在水中，人形机器人受到水的两种力的影响：浮力和阻力。我们在生成步行模式时考虑浮力，因为力很大并且在步行之前很容易估计。然而，阻力很小且难以精确预测，因此，我们将其视为未知扰动。在我们的方法中，我们根据捕获点修改足迹以应对大的干扰。我们通过一个真人大小的人形机器人在地板、楼梯和水中的碎片上行走的实验验证了所提出方法的有效性。
In this paper, we develop a waterproof suit for humanoid robots and propose an underwater walking control method. Although very few life-sized humanoid robots are completely waterproof, we can easily make these humanoid robots watertight by putting a waterproof suit on them. In water, humanoid robots are influenced by the two forces due to the water: buoyancy and drag force. We take buoyancy into account when generating a walking pattern because the force is large and easy to estimate before walking. However, drag force is small and difficult to precisely predict and therefore, we treat the force as an unknown disturbance. In our method, we modify footsteps based on the Capture Point in order to deal with large disturbances. We verify the effectiveness of the proposed methods through an experiment in which a life-sized humanoid robot walks on a floor, stairs and debris in water.