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Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics
Advanced Robotics ( IF 2 ) Pub Date : 2020-09-08 , DOI: 10.1080/01691864.2020.1817778
Yuya Hakamata 1 , Satoki Tsuichihara 2 , Gustavo Alfonso Garcia Ricardez 1 , Jun Takamatsu 1 , Tsukasa Ogasawara 1
Affiliation  

As robotics technology advances, we expect humanoid robots to do strenuous work on our behalf. In everyday life, we frequently perform object manipulations. In particular, pushing and pulling motions are commonly done. Therefore, it is important to enable humanoid robots to perform these types of motions. Several studies on opening a door using a humanoid robot have been conducted. However, due to the delays of waiting for sensor data, the generated motions are slower than human motions. To speed up these motions, we propose two methods. One is to use prior knowledge of a predefined reaction force and to expand a preview control to handle the predefined force. The other is to accelerate the control of the total body momentum using analytical (not iterative) inverse kinematics. We verify the effectiveness of the proposed method in both simulation and the real humanoid robot HRP-4. GRAPHICAL ABSTRACT

中文翻译:

基于解析逆运动学的全身动量控制仿人机器人推拉运动生成

随着机器人技术的进步,我们期望类人机器人能够代表我们完成繁重的工作。在日常生活中,我们经常执行对象操作。特别地,通常进行推拉运动。因此,使类人机器人能够执行这些类型的运动非常重要。已经进行了多项关于使用类人机器人开门的研究。然而,由于等待传感器数据的延迟,生成的动作比人体动作慢。为了加速这些运动,我们提出了两种方法。一种是使用预定义反作用力的先验知识并扩展预览控件以处理预定义力。另一种方法是使用解析(而非迭代)逆运动学加速对整体动量的控制。我们验证了所提出方法在仿真和真实人形机器人 HRP-4 中的有效性。图形概要
更新日期:2020-09-08
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