Multi-contact vertical ladder climbing with an HRP-2 humanoid
Multi-contact vertical ladder climbing with an HRP-2 humanoid
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DOI：
10.1007/s10514-016-9546-4
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发表时间：
2016-02
影响因子：
3.5
通讯作者：
Joris Vaillant;A. Kheddar;H. Audren;François Keith;Stanislas Brossette;Adrien Escande;Karim Bouyarmane;K. Kaneko;M. Morisawa;P. Gergondet;E. Yoshida;S. Kajita;F. Kanehiro
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文献类型：
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作者：
Joris Vaillant;A. Kheddar;H. Audren;François Keith;Stanislas Brossette;Adrien Escande;Karim Bouyarmane;K. Kaneko;M. Morisawa;P. Gergondet;E. Yoshida;S. Kajita;F. Kanehiro
我们描述了我们开发的研究和集成方法，使 HRP-2 人形机器人爬上垂直工业标准梯子。我们使用多接触规划器和制定为 QP（二次规划）的多目标闭环控制。首先，离线规划一组用于爬梯的联系人（自动或由用户）。这些触点被提供作为有限状态机的输入。后者构建补充任务，解释几何不确定性和要添加到 QP 控制器的特定抓取程序。后者提供了关节加速度和接触力方面的即时所需状态，由嵌入式低级电机控制器跟踪。我们的试验表明，硬件的改变是必要的，并且部分软件必须变得更加健壮。然而，我们确认 HRP-2 具有攀登真正工业阶梯的运动学和动力能力，例如核电站和大型制造工厂（例如飞机、造船厂）和建筑工地的阶梯。
We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.