Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts
复制标题
仿人机器人在有限空间内的多接触平衡：利用膝部接触
DOI：
10.1109/iros.2017.8202227
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
C. Ott
中科院分区：
文献类型：
--
作者：
Bernd Henze;Alexander Dietrich;M. Roa;C. Ott
在空间有限的领域引入人形机器人是一个巨大的挑战，特别是在环境混乱和未知的情况下。机器人应该能够利用分布在整个身体上的多个接触点，而不仅仅是它的脚和手。全身的额外接触，例如膝盖和肘部，使机器人能够通过增强支撑多边形来增加其敏捷性和健壮性。本文将我们基于被动的方法应用于分层的全身控制，包括在受限空间中平衡涉及分布在机器人全身的触点的场景。在力矩控制的仿人机器人Toro上对该方法进行了实验验证，验证了该框架的普遍适用性。
Introducing humanoid robots in areas where space is limited, for example in search-and-rescue scenarios or industrial manufacturing, represents a huge challenge, especially when the environment is cluttered and unknown. The robot should be capable of utilizing multiple contact points distributed across the entire body and not just its feet and hands. Extra contacts on the whole body, for instance including the knees and elbows, enable the robot to increase its agility and robustness by enhancing the support polygon. This paper applies our passivity-based approach for hierarchical whole-body control including balancing to scenarios involving contacts distributed all over the body of the robot as required in confined spaces. The approach is experimentally validated on the torque-controlled humanoid robot TORO to demonstrate the general applicability of the presented framework.