In this paper, we propose a generic method of online motion generation and control that realizes quasi-static multi-contact motion for real position-controlled humanoids. The proposed system calculates command joint angle online by prioritized inverse kinematics that realizes the target contact states and the target position/orientation of interaction end-effectors feasibly. In order to enable control of contact wrench and joint torque with position-controlled robots, Jacobian matrixes (PWT Jacobian matrix) focusing on relationships between command joint angle and actual joint position, contact wrench, and joint torque are introduced. In addition, contact wrench is estimated at the body parts where force sensors are not mounted to enable contacts there, and joint load reduction based on the motor temperature is taken into account to enable long-term motions with real humanoids. The proposed method was verified by a real life-size position-controlled humanoid HRP2-JSKNTS, and various multi-contact motions such as desk climbing using the right knee and both arms were realized. GRAPHICAL ABSTRACT

中文翻译：

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通过 PWT 雅可比矩阵在线生成和控制准静态多接触运动，接触扳手估计和关节负载减少*

在本文中，我们提出了一种在线运动生成和控制的通用方法，该方法可实现真实位置控制类人机器人的准静态多接触运动。所提出的系统通过优先逆运动学在线计算命令关节角度，实现目标接触状态和交互末端执行器的目标位置/方向。为了使位置控制机器人能够控制接触扳手和关节扭矩，引入了雅克比矩阵（PWT Jacobian matrix），重点是命令关节角度与实际关节位置、接触扳手和关节扭矩之间的关系。此外，在未安装力传感器的身体部位估计接触扳手，以启用那里的接触，并考虑了基于电机温度的关节负载减少，以实现与真实人形机器人的长期运动。该方法通过真人大小的位置控制人形HRP2-JSKNTS进行验证，并实现了使用右膝和双臂攀爬办公桌等各种多接触运动。图形概要