Boundary Condition Relaxation Method for Stepwise Pedipulation Planning of Biped Robots
Boundary Condition Relaxation Method for Stepwise Pedipulation Planning of Biped Robots
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DOI：
10.1109/tro.2008.2012336
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发表时间：
2009-06-01
影响因子：
7.8
通讯作者：
Nakamura, Yoshihiko
中科院分区：
文献类型：
--
作者：
Sugihara, Tomomichi;Nakamura, Yoshihiko
提出了一种完全分步在线人口规划方法。它是一种基于质量集中于质心的近似动力双足模型运动方程通解的解析方法。通过放宽边界条件，即允许期望状态与实际达到状态之间存在一定程度的误差，并且在区间两端的零矩点不连续，只在一个区间内规划一个考虑反作用力约束的物理上可行的参考轨迹。它可能会产生需要强大瞬时加速度的响应性运动。提出了一种半自动连续人口规划方法。它只从下一个期望的脚位置产生整个身体的参考轨迹。通过一个小型拟人机器人的实验，验证了该方法的有效性。
A completely stepwise online pedipulation planning method is proposed. It is an analytical approach based on the general solution of the equation of motion of an approximate dynamical biped model whose mass is concentrated at the center of mass. A physically feasible referential trajectory with a constraint about the reaction force taken into account is planned only in one interval by relaxing the boundary condition, namely, by admitting a certain level of error between the desired and actually reached states, and discontinuity of zero-moment point at each end of the interval. It potentially creates responsive motions that require strong instantaneous acceleration. A semiautomatic continual pedipulation planning method is also presented. It generates a referential trajectory of the whole body only from the next desired foot placement. The validity of the proposed method is ensured through experiments with a small anthropomorphic robot.