Realization and Trajectory Planning for Obstacle Stepping Over by Humanoid Robot BHR-2

2006 ◽  
Author(s):  
Ali Raza Jarfi ◽  
Qiang Huang ◽  
Lige Zhang ◽  
Jie Yang ◽  
Zhijie Wang ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Humanoid Robot

Humanoid Robot Arm Kinematics Modeling and Motion Planning

2014 ◽  
Vol 644-650 ◽  
pp. 247-250
Author(s):  
Qin Jun Du ◽  
Xue Yi Zhang ◽  
Shi Long Zhai
Keyword(s):  
Trajectory Planning ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Interpolation Method ◽  
Angular Acceleration ◽  
Polynomial Method ◽  
Robot Arm ◽  
Quintic Polynomial ◽  
Kinematics Modeling ◽  
Cubic Polynomial

This paper establishes the kinematics model of humanoid robot arm, the arm forward kinematics equations were built and solved, based on the advantages of CCD (Cyclic Coordinate Descent) and BFS (Broyden-Fletcher-Shanno) algorithm to solve the inverse kinematics of humanoid robot arm. In the joint space, using cubic polynomial and quintic polynomial interpolation method respectively for each joint angle interpolation. Cubic polynomial trajectory planning can meet the point-to-point movement in general, but can not guarantee the continuity of acceleration of each point; Quintic polynomial trajectory planning can ensure that each point is continuous of the joint angle, angular velocity, and angular acceleration, so this polynomial method can meet the movement of the humanoid robot arm.

Design and Kick Analysis of a Soccer Playing Robot

2014 ◽  
Vol 541-542 ◽  
pp. 1087-1091
Author(s):  
Hossain Alamgir ◽  
Zaman Rahid ◽  
Rahman Miftahur ◽  
Raihan Masud ◽  
Abdullah Fardan ◽  
...  
Keyword(s):  
Structural Analysis ◽  
System Design ◽  
Trajectory Planning ◽  
Humanoid Robot ◽  
Initial Step ◽  
Forward Kinematics ◽  
Engineering System ◽  
Human Being ◽  
Engineering System Design ◽  
Mathematical Derivation

For the implementation of an idea, it is essential to have a full engineering system design, simulation and analysis. MISTBOY is such a dream-bot which can perform football skills like a human being. This is an on going humanoid robot project, initially having 17 DoF, 55 cm height and 5 kg weight. In this paper, the initial step towards the making of a humanoid robot is discussed and the balancing and structural analysis through mathematical derivation and simulation are also presented here with good result. This paper is focused on forward kinematics, trajectory planning, balancing, force and torque calculation and kick analysis.

Motion planning for humanoid robot dynamically stepping over consecutive large obstacles

2016 ◽  
Vol 43 (2) ◽  
pp. 204-220 ◽  
Author(s):  
Fayong Guo ◽  
Tao Mei ◽  
Minzhou Luo ◽  
Marco Ceccarelli ◽  
Ziyi Zhao ◽  
...  
Keyword(s):  
Motion Planning ◽  
Trajectory Planning ◽  
Humanoid Robot ◽  
Extreme Case ◽  
Humanoid Robots ◽  
Decision Criterion ◽  
Body Motion ◽  
Feasibility Analysis ◽  
Upper Body ◽  
Content Type

Purpose – Humanoid robots should have the ability of walking in complex environment and overcoming large obstacles in rescue mission. Previous research mainly discusses the problem of humanoid robots stepping over or on/off one obstacle statically or dynamically. As an extreme case, this paper aims to demonstrate how the robots can step over two large obstacles continuously. Design/methodology/approach – The robot model uses linear inverted pendulum (LIP) model. The motion planning procedure includes feasibility analysis with constraints, footprints planning, legs trajectory planning with collision-free constraint, foot trajectory adapter and upper body motion planning. Findings – The motion planning with the motion constraints is a key problem, which can be considered as global optimization issue with collision-free constraint, kinematic limits and balance constraint. With the given obstacles, the robot first needs to determine whether it can achieve stepping over, if feasible, and then the robot gets the motion trajectory for the legs, waist and upper body using consecutive obstacles stepping over planning algorithm which is presented in this paper. Originality/value – The consecutive stepping over problem is proposed in this paper. First, the paper defines two consecutive stepping over conditions, sparse stepping over (SSO) and tight stepping over (TSO). Then, a novel feasibility analysis method with condition (SSO/TSO) decision criterion is proposed for consecutive obstacles stepping over. The feasibility analysis method’s output is walking parameters with obstacles’ information. Furthermore, a modified legs trajectory planning method with center of mass trajectory compensation using upper body motion is proposed. Finally, simulations and experiments for SSO and TSO are carried out by using the XT-I humanoid robot platform with the aim to verify the validity and feasibility of the novel methods proposed in this paper.

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