An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot
An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot
复制标题
DOI：
10.1177/0278364911405870
复制
发表时间：
2011-11
期刊：
影响因子：
--
通讯作者：
A. Konno;T. Myojin;Takaaki Matsumoto;T. Tsujita;M. Uchiyama
中科院分区：
文献类型：
--
作者：
A. Konno;T. Myojin;Takaaki Matsumoto;T. Tsujita;M. Uchiyama
当人类需要产生一个很大的力量时，他们会试图通过全身的动态合作来施加一个冲击力。在本文中，我们首先讨论的仿人机器人的冲击动力学，然后提出了一种方法来产生的仿人机器人施加一个很大的力，同时保持平衡的冲击运动。在碰撞运动生成中，序列二次规划（SQP）用于解决目标函数和约束可以是运动参数的非线性函数的非线性规划问题。使用SQP产生冲击运动，从而使冲击力最大化，同时角动量最小化。用空手道劈打破木板被作为案例研究，因为它是利用冲力的任务的典型例子。用该方法生成了一个空手道截击的仿人机器人运动。为了验证设计的运动，使用小型人形机器人富士通HOAP-2进行了实验。所提出的方法产生的空手道劈运动与人类设计的运动进行了比较。木板破碎实验的结果清楚地表明了所提出的方法的有效性。
When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method.