Purpose

This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque.

Design/methodology/approach

First, the authors designed a new practical instantaneous large torque strategy for a pulsing type joint servo driver by modeling the whole-body dynamics of the humanoid robot. The work also considered joint angle planning based on the dynamic model for crossing obstacles. Second, in the simulation and experimentation, the instantaneous torque of the driver is used to realize successful crossing of obstacles by the humanoid robot. This verifies the correctness of the whole-body dynamics model and the feasibility of the method for crossing obstacles.

Findings

The experimental data and results are described and analyzed, showing that the proposed method is feasible and effective through simulation and implementation.

Originality/value

The main contribution is the humanoid robot’s actuation control technology and humanoid action realization, which could be used for squatting and moving heavy objects to help a humanoid robot adapt effectively.

中文翻译：

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高扭矩实现人形机器人跨步态

目的

本文旨在根据人体动力学模型提出一种基于脉冲式联合伺服驱动器的人形机器人障碍超越方法，该方法充分考虑了人体稳定性裕度与瞬时转矩之间的关系。

设计/方法/方法

首先，作者通过对类人机器人的全身动力学建模，为脉冲式关节伺服驱动器设计了一种新的实用的瞬时大扭矩策略。这项工作还考虑了基于跨障碍动态模型的关节角度规划。其次，在仿真和实验中，使用驾驶员的瞬时扭矩实现人形机器人成功越过障碍物。这验证了全身动力学模型的正确性以及穿越障碍物方法的可行性。

发现

描述和分析了实验数据和结果，表明该方法通过仿真和实现是可行和有效的。

创意/价值

主要的贡献在于类人机器人的致动控制技术和类人动作的实现，可用于蹲下和移动重物，以帮助类人机器人有效地适应。