Obstacle Avoidance in Groping Locomotion of a Humanoid Robot
Obstacle Avoidance in Groping Locomotion of a Humanoid Robot
复制标题
人形机器人摸索运动的避障
DOI：
10.5772/5783
复制
发表时间：
2005
影响因子：
2.3
通讯作者：
M. Ohka
中科院分区：
文献类型：
--
作者：
H. Yussof;M. Yamano;Y. Nasu;K. Mitobe;M. Ohka
本文描述了一种自主避障方法的开发，该方法与人形机器人 Bonten-Maru II 上的摸索运动结合使用。目前关于摸索运动的研究包括人形机器人通过用手臂在墙壁的平坦表面上触摸和摸索来识别周围环境的基础研究。机器人通过对其方向和运动方向进行修正来响应周围环境。然而，在摸索运动过程中，校正区域内障碍物的存在会产生碰撞的可能性。本文的目的是通过将合适的算法应用于仿人机器人的控制系统，开发一种自主方法来避开校正区域中的障碍物。为了识别周围环境，两个机械臂上都安装了六轴力传感器，作为力控制的末端执行器。所提出的算法参考了仿人机器人腿部关节由于轨迹生成而旋转的角度。该算法涉及通过测量的摸索角度和手臂运动来进行摸索运动。使用 Bonten-Maru II，在墙壁表面进行摸索实验以获得墙壁方向数据。通过利用这些数据，仿人机器人自主执行所提出的方法，以避免校正区域中存在的障碍物。结果表明，仿人机器人可以识别障碍物的存在，并通过在腿部生成合适的轨迹来避开障碍物。
This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.