WHOLE-BODY COOPERATIVE BALANCED MOTION GENERATION FOR REACHING

Author:

NISHIWAKI KOICHI1,KUGA MAMORU2,KAGAMI SATOSHI1,INABA MASAYUKI2,INOUE HIROCHIKA1

Affiliation:

1. Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), 2-41-6, Aomi, Koto-ku, Tokyo, 135-0064, Japan

2. Department of Mechano-Informatics, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, Japan

Abstract

This paper addresses a construction method of a system that realizes whole body reaching motion of humanoids. Humanoids have many redundant degrees of freedom for reaching, and even the base can be moved by making the robot step. Therefore, there are infinite final posture solutions for a final goal position of reaching, and there are also infinite solutions for reaching trajectories that realize a final reaching posture. It is, however, difficult to find an appropriate solution because of the constraint of dynamic balance, and relatively narrow movable range for each joint. We prepared basic postures heuristically, and a final reaching posture is generated by modifying one of them. Heuristics, such as the fact that kneeling down is suitable for reaching near the ground, can be implemented easily by using this method. Methods that compose the reaching system, that is, basic posture selection, modification of postures for generating final reaching postures, balance compensation, footstep planning to realize desired feet position, and generation and execution of whole body motion to final reaching postures are described. Reaching to manually set positions and picking up a bat at various postures using visual information are shown as experiments to show the performance of the system.

Publisher

World Scientific Pub Co Pte Lt

Subject

Artificial Intelligence,Mechanical Engineering

Reference1 articles.

Cited by 12 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Optimization for Whole Body Reaching Motion Without Singularity;International Journal of Precision Engineering and Manufacturing;2022-03-29

2. A survey of the development of quadruped robots: Joint configuration, dynamic locomotion control method and mobile manipulation approach;Biomimetic Intelligence and Robotics;2021-12

3. Real-time whole-body motion generation using torso posture regression and center of mass;ROBOMECH Journal;2018-04-27

4. Manipulation and Control;Contemporary Planetary Robotics;2016-08-12

5. ControlIt! — A Software Framework for Whole-Body Operational Space Control;International Journal of Humanoid Robotics;2016-03

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