Mobility of Humanoid Robots: Stepping over Large Obstacles Dynamically
Mobility of Humanoid Robots: Stepping over Large Obstacles Dynamically
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DOI：
10.1109/icma.2006.257774
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发表时间：
2006-06
期刊：
影响因子：
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通讯作者：
B. Verrelst;K. Yokoi;O. Stasse;Hitoshi Arisumi;B. Vanderborght
中科院分区：
文献类型：
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作者：
B. Verrelst;K. Yokoi;O. Stasse;Hitoshi Arisumi;B. Vanderborght
人形机器人在机器人界越来越受到关注，这不仅是因为复杂的多体系统问题和机电一体化设计的科学挑战，还因为它们的高机动性和多功能性。人形机器人有潜力在复杂的环境中导航，例如人类的标准生活环境。这主要是由于机器人系统的双足性质，它比轮式机器人系统具有更高的机动性。优点之一是它可以通过跨越障碍来谈判障碍，这是本文介绍的工作主题。这项研究的主要重点是研究跨越大型障碍物。之前的工作报告了使用准静态平衡的算法，这导致了某种不自然的慢动作。然而，这项工作的重点是在流畅的动态运动中跨过较大的障碍，使用零力矩点而不是重心的稳定性标准。所有工作都是根据精心设计的 HRP-2 人形研究平台的功能制定的。在本文中，对跨过腿部轨迹及其对整体稳定性的动态影响进行了初步的二维研究。本文讨论了整个动态运动生成器中跨步程序的实现、对运动学和动力学的影响以及最终的实际跨步轨迹规划器
Humanoid robots are getting increasing attention in the robotics community, not only for the scientific challenge of the complex multibody system issues and mechatronic designs, but also due to their high mobility and versatility. Humanoid robots have the potential to navigate through complex environments such as the standard living surrounding of humans. This is mainly due to the bipedal legged nature of the robotic system, which allows higher mobility than its wheeled counterpart. One of the advantages is that it can negotiate obstacles by stepping over them, which is the topic of the work presented in this paper. The main focus of this research is to investigate stepping over large obstacles. Previous work has reported on algorithms using quasi-static balancing, which resulted in somehow unnatural slow motions. This work however focuses on stepping over larger obstacles in a fluent dynamic motion, using stability criteria on zero moment point instead of center of gravity. All the work is formulated in function of the elaborate HRP-2 humanoid research platform. In this paper a preliminary 2D study on stepping over leg trajectories and their dynamic implications on the overall stability are investigated. The paper discusses the implementation of the stepping over procedure in the overall dynamic motion generator, the implications on the kinematics and dynamics and finally the actual stepping over foot trajectory planner