Whole-Body Motion Generation Integrating Operator's Intention and Robot's Autonomy in Controlling Humanoid Robots

2007 ◽  
Vol 23 (4) ◽  
pp. 763-775 ◽  
Author(s):  
Ee Sian Neo ◽  
Kazuhito Yokoi ◽  
Shuuji Kajita ◽  
Kazuo Tanie
Keyword(s):  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation

Humanoid Locomotion Control and Generation Based on Contact Wrench Cones

2019 ◽  
Vol 16 (05) ◽  
pp. 1950021
Author(s):  
Yu Zheng ◽  
Shi Wen Liao ◽  
Katsu Yamane
Keyword(s):  
Motion Tracking ◽  
Inequality Constraints ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Quadratic Program ◽  
Motion Generation ◽  
Locomotion Control ◽  
Linear Representations ◽  
Floating Base

This paper presents a general framework for locomotion control and generation of humanoid robots. Different from most of the existing work which uses the zero-moment point (2mp) to determine the feasibility of robot’s motion, we use the so-called contact wrench cone to derive motion feasibility conditions, whole-body motion controllers, and locomotion generators. The contact wrench cone consists of all feasible wrenches that can be applied to the robot through contacts, which provide allowable external forces and moments for realizing the robot’s motion. Algorithms are proposed to compute quantities defined on linear representations of a general convex cone, which can be various contact wrench cones as needed in developing motion generators and controllers. Based on the contact wrench cone for contact links and the proposed algorithms as well as a decomposition of the whole-body dynamics of a floating-base humanoid robot, we derive two motion tracking controllers. One controller contains a single quadratic program with linear inequality constraints, while the other consists of two quadratic programs which can be quickly solved by one of the proposed algorithms and in a closed form, respectively. Both controllers can be applied in real-time and achieve similar motion tracking performance in simulation. Based on contact wrench cones, furthermore, we derive two motion generation methods for humanoid robots. The first method adapts a reference motion, most often infeasible, to the robot by warping the motion’s time line so that the motion trajectory will remain the same but the velocity and acceleration profiles will be changed. The second method generates bipedal locomotion for given footsteps. All the proposed motion controllers and generators are applicable to general scenarios including uneven terrains and motions with the support of other links besides feet.

scholarly journals Efficient Planning of Humanoid Motions by Modifying Constraints

2013 ◽  
Vol 4 (1) ◽  
Author(s):  
ChangHyun Sung ◽  
Takahiro Kagawa ◽  
Yoji Uno
Keyword(s):  
Motion Planning ◽  
Sufficient Conditions ◽  
Computation Time ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Planning Problem ◽  
Point Representation ◽  
Efficient Planning ◽  
Unpredictable Environment

AbstractIn this paper, we propose an effective planning method for whole-body motions of humanoid robots under various conditions for achieving the task. In motion planning, various constraints such as range of motion have to be considered. Specifically, it is important to maintain balance in whole-body motion. In order to be useful in an unpredictable environment, rapid planning is an essential problem. In this research, via-point representation is used for assigning sufficient conditions to deal with various constraints in the movement. The position, posture and velocity of the robot are constrained as a state of a via-point. In our algorithm, the feasible motions are planned by modifying via-points. Furthermore, we formulate the motion planning problem as a simple iterative method with a Linear Programming (LP) problem for efficiency of the motion planning. We have applied the method to generate the kicking motion of a HOAP-3 humanoid robot. We confirmed that the robot can successfully score a goal with various courses corresponding to changing conditions of the location of an obstacle. The computation time was less than two seconds. These results indicate that the proposed algorithm can achieve efficient motion planning.

Whole-body motion and footstep planning for humanoid robots with multi-heuristic search

2019 ◽  
Vol 116 ◽  
pp. 51-63 ◽  
Author(s):  
Rizwan Asif ◽  
Ali Athar ◽  
Faisal Mehmood ◽  
Fahad Islam ◽  
Yasar Ayaz
Keyword(s):  
Heuristic Search ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body
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