Online Balanced Motion Generation for Humanoid Robots

10/19/2018
by   Grzegorz Ficht, et al.
0

Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess position controlled joints and have limited feedback capabilities. By analysing the mass distribution in a humanoid-like body, we find relations between limb movement and their respective CoM positions. A full pose of a humanoid robot is then described with five point-masses, with one attached to the trunk and the remaining four assigned to each limb. The weighted sum of these masses in combination with a contact point form an inverted pendulum. We then generate statically stable poses by specifying a desired upright pendulum orientation, and any desired trunk orientation. Limb and trunk placement strategies are utilised to meet the reference CoM position. A set of these poses is interpolated to achieve stable whole body motions. The approach is evaluated by performing several motions with an igus Humanoid Open Platform robot. We demonstrate the extendability of the approach by applying basic feedback mechanisms for disturbance rejection and tracking error minimisation.

READ FULL TEXT

page 1

page 7

research
07/13/2020

Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints

We introduce a new, analytical method for generating whole-body motions ...
research
08/09/2022

Direct Centroidal Control for Balanced Humanoid Locomotion

We present an integrated approach to locomotion and balancing of humanoi...
research
12/11/2020

Motion Mappings for Continuous Bilateral Teleoperation

Mapping operator motions to a robot is a key problem in teleoperation. D...
research
08/15/2021

Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots

This paper studies stabilizer design for position-controlled humanoid ro...
research
02/19/2021

Continual Learning from Synthetic Data for a Humanoid Exercise Robot

In order to detect and correct physical exercises, a Grow-When-Required ...
research
06/02/2015

ControlIt! - A Software Framework for Whole-Body Operational Space Control

Whole Body Operational Space Control (WBOSC) is a pioneering algorithm i...
research
03/01/2022

First do not fall: learning to exploit the environment with a damaged humanoid robot

Humanoid robots could replace humans in hazardous situations but most of...

Please sign up or login with your details

Forgot password? Click here to reset