Upper-Body Control and Mechanism of Humanoids to Compensate for Angular Momentum in the Yaw Direction Based on Human Running
Upper-Body Control and Mechanism of Humanoids to Compensate for Angular Momentum in the Yaw Direction Based on Human Running
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DOI：
10.3390/app8010044
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发表时间：
2018-01-01
影响因子：
2.7
通讯作者：
Takanishi, Atsuo
中科院分区：
文献类型：
--
作者：
Otani, Takuya;Hashimoto, Kenji;Takanishi, Atsuo
许多现有的研究提出了人形机器人在跳跃和跑步的站立阶段的各种稳定控制方法。尽管这些方法有助于跳跃和奔跑期间的稳定性，但人形机器人在飞行阶段不会快速摆动腿部，以防止偏航方向上的旋转。人类在跑步时利用躯干和手臂来补偿飞行阶段腿部运动产生的偏航方向的角动量。在这项研究中，我们开发了一种基于人体运动的人形上半身角动量控制方法。该方法包括计算人形腿部运动产生的角动量以及计算补偿腿部在偏航方向上的角动量所需的躯干和手臂运动。我们还开发了一种具有人类连杆长度和质量特性的人形上半身机构，采用碳纤维增强塑料和对称结构来产生大角动量。这项研究中开发的人形机器人可以产生与人类几乎相同的角动量。此外，当仿人机器人悬浮在半空中时，实现了偏航方向的角动量补偿。
Many extant studies proposed various stabilizing control methods for humanoids during the stance phase while hopping and running. Although these methods contribute to stability during hopping and running, humanoid robots do not swing their legs rapidly during the flight phase to prevent rotation in the yaw direction. Humans utilize their torsos and arms when running to compensate for the angular momentum in the yaw direction generated by leg movement during the flight phase. In this study, we developed an angular momentum control method based on human motion for a humanoid upper body. The method involves calculation of the angular momentum generated by the movement of the humanoid legs and calculation of the torso and arm motions required to compensate for the angular momentum of the legs in the yaw direction. We also developed a humanoid upper-body mechanism having human link length and mass properties, using carbon-fiber-reinforced plastic and a symmetric structure for generating large angular momentum. The humanoid robot developed in this study could generate almost the same angular momentum as that of a human. Furthermore, when suspended in midair, the humanoid robot achieved angular momentum compensation in the yaw direction.