Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition
Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition
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DOI：
10.1109/lra.2021.3095517
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发表时间：
2021-10-01
影响因子：
5.2
通讯作者：
Kanehiro, Fumio
中科院分区：
文献类型：
--
作者：
Kumagai, Iori;Murooka, Masaki;Kanehiro, Fumio
在这封信中，我们提出了一种多接触运动规划框架，用于仿人机器人在合理的计算时间内利用双边接触力穿越复杂环境。我们假设双边接触可以近似为一对表面接触，并利用这个假设扩展了静态COM可行域，我们定义为bSCFR。这一假设使我们能够将具有双边接触力的质心静力学投影到全身运动学的约束上。然后，我们将目标接触过渡中所有离散化框架的全身逆运动学问题描述为一个基于bSCFR和COM正则化的优化问题，该优化问题可以同时考虑运动学和静力学，找到可行的全身构形。求解全身逆运动学后，基于质心静力学计算接触力，其中根据生成的构件位置自动生成适当的双边接触力。我们通过实验证实，我们提出的框架使HRP-5P能够利用现实世界中的双边接触力穿越陡峭的楼梯，并得出结论，它扩展了类人机器人的多接触移动能力。
In this letter, we propose a multi-contact locomotion planning framework for a humanoid robot to traverse complex environments utilizing bilateral contact forces with reasonable computational time. We hypothesize that a bilateral contact can be approximated by a pair of surface contacts, and expand the static CoM feasible region by this assumption, which we define as bSCFR. This assumption enables us to project centroidal statics with bilateral contact forces to a constraint on whole-body kinematics. Then, we formulate the whole-body inverse kinematics problem for all the discretized frames in the target contact transition as one optimization problem with bSCFR and CoM regularization, which can find feasible whole-body configurations while considering both kinematics and statics. After solving whole-body inverse kinematics, the contact forces are computed based on the centroidal statics, where appropriate bilateral contact forces are automatically generated according to the resulting CoM positions. We experimentally confirm that our proposed framework enabled HRP-5P to traverse steep stairs utilizing bilateral contact forces in the real world, and conclude that it expands the multi-contact locomotion capability of a humanoid robot.