Development of Humanoid Research Platform and Realization of Reactive Whole-body Motion

仿人研究平台开发及反应性全身运动的实现

• 批准号: 13355011
• 负责人: INOUE Hirochika
• 金额: $ 31.53万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13355011/
• 关键词: Humanoid; Force Sensor; Vision Sensor; Dynamics Simulator; Biped Walking; Whole-body Motion; Realtime Operating System; ステレオ視覚; 力覚センサー; 操縦システム; ロボットハンド; 自律ロボット; 動力学; 実時間視覚

Main research results can be classified under three topics a) Development of humanoid hardware platform, b) Development of humanoid control software for whole-body motion on the real-time operation system, and c) realization of whole-body motions.a)Development of Humanoid Hardware6-axis force sensor for measuring grand reaction force, toe joint modules suitable for whole-body motion, head system with high speed stereo camera that is designed for recognizing the 3D shape of the environment, and hands that are suitable for both whole-body motion and carrying various objects are developed. Using with previously developed robot system, humanoid robot platform suitable for whole-body motion research is constructed.b)Development of humanoid control softwareControlling system that allows many control loop run in different cycle concurrently is developed on the real time operation system. Inverse dynamics library with humanoid model, walking control system that realizes desired walking direction and upper body postures given online, self-collision checker, model-based balance keeping software for whole-body motion, and realtime 3D vision software for recognizing the shape of the environment.b)Realization of whole body motionAutonomous walking control system using motion planning technique in the complex real world is constructed and tested. Especially, locomotive motions using whole-body are developed for passing narrow space. Those motions are tested with vision system to construct autonomous behaviors. Moreover, motion of climbing up a ladder and lifting and carrying a big box are realized as examples of motions in which many part of the body is cooperatively utilized.

主要研究成果可归纳为三个方面：a）仿人硬件平台的开发，B）实时操作系统上的仿人全身运动控制软件的开发，以及c）全身运动的实现。a）仿人硬件的开发用于测量大反作用力的六维力传感器，适合全身运动的脚趾关节模块，开发了设计用于识别环境的3D形状的具有高速立体摄像机的头部系统，以及适合于全身运动和携带各种物体的手。B）仿人控制软件的开发在真实的实时操作系统上，开发了多个控制回路并行运行的控制系统。具有仿人模型的逆动力学库、实现在线给定的期望行走方向和上身姿势的行走控制系统、自碰撞检查器、用于全身运动的基于模型的平衡保持软件以及用于识别环境形状的实时3D视觉软件。B）全身运动的实现构建并测试了在复杂的真实的世界中使用运动规划技术的自主行走控制系统。特别是开发了用于通过狭窄空间的使用全身的机车运动。这些动作被视觉系统测试，以构建自主行为。此外，爬上梯子和举起并搬运大箱子的运动被实现为其中身体的许多部分被协同利用的运动的示例。

项目成果

Nishiwaki, Kagami, Kuniyoshi, Inaba, Inoue: "Toe Joints that Enhance Bipedal and Fullbody Motion of Humanoid Robots"Proceedings of International Conference on Robotics and Automation. 3105-3110 (2002)

Nishiwaki、Kagami、Kuniyoshi、Inaba、Inoue：“增强人形机器人双足和全身运动的脚趾关节”机器人与自动化国际会议论文集。

Kagami, Kitagawa, Nishiwaki, Inaba, Inoue: "A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot"Autonomous Robots. No.12, Vol.1. 71-82 (2002)

Kagami、Kitakawa、Nishiwaki、Inaba、Inoue：“一种人形机器人的快速动态平衡行走轨迹生成方法”自主机器人。

Kagami, Nishiwaki, Kuffner, Okada, Kuniyoshi, Inaba, Inoue: "Low-level Autonomy of the Humanoid Robots H6 & H7"Robotics Research. Vol.10. 93-98 (2003)

Kagami、Nishiwaki、Kuffner、Okada、Kuniyoshi、Inaba、Inoue：“人形机器人 H6 的低级自主性

Kuffner, Kagami, Nishiwaki, Inaba, Inoue: "Online Footstep Planning for Humanoid Robots."Proceedings of International Conference on Robotics and Automation. 932-937 (2003)

Kuffner、Kagami、Nishiwaki、Inaba、Inoue：“人形机器人的在线足迹规划”。国际机器人与自动化会议论文集。

井上 博允, 加賀美 聡: "ロボットの知能とシステム統合:ヒューマノイドを例にとって"日本ロボット学会誌. Vol.20No.5. 464-469 (2002)

Hiroyuki Inoue，Satoshi Kagami：“机器人智能和系统集成：以类人机器人为例”，日本机器人学会杂志，第 20 卷第 464-469 期（2002 年）。