Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds
Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds
复制标题
足迹修改，包括稀疏立足点扰动下的步时间和角动量
DOI：
10.1109/lra.2020.3004796
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发表时间：
2020
影响因子：
5.2
通讯作者：
Inaba Masayuki
中科院分区：
文献类型：
--
作者：
Kojio Yuta;Omori Yuki;Kojima Kunio;Sugai Fumihito;Kakiuchi Yohei;Okada Kei;Inaba Masayuki
保持动平衡是对双足机器人的重要要求。为了处理较大的扰动，需要根据扰动对步进进行修改。目前，考虑足点约束和机器人平衡来确定脚步的方法很少。本文提出了一种考虑可步进区域的足迹修正方法。在某些情况下，由于在稀疏的立足点（如垫脚石）上着陆位置的限制，机器人无法保持平衡。因此，我们提出的方法不仅修改了步进位置，而且修改了步进时间和角动量，即使在可步进区域受到严格限制的立足点上也能保持平衡。通过将可步进区域表示为凸包并应用我们之前使用的方法，对这些步行参数进行了解析计算。我们在一个实验中验证了所提出方法的有效性，该实验中，一个真人大小的人形机器人在由不稳定块组成的踏脚石上行走，并且在被推时能够恢复。
Maintaining dynamic balance is an important requirement for bipedal robots. To deal with large disturbances, the footsteps need to be modified depending on the disturbance. Currently, there are few methods that determine footsteps by considering foothold constraints and the balance of the robot. In this paper, we propose a footstep modification method that considers the steppable region. In certain situations, robots cannot maintain balance due to the limitations of the landing position on sparse footholds, such as stepping stones. Therefore, our proposed method modifies not only the step position, but also the step timing and the angular momentum, and balance can be maintained even on the footholds where the steppable region is strictly limited. These walking parameters are analytically calculated by representing the steppable region as convex hulls and applying our previously utilized method. We verified the effectiveness of the proposed method in an experiment where a life-sized humanoid robot walked on stepping stones consisting of unsteady blocks and was able to recover when pushed.