Vertical Jump of a Humanoid Robot With CoP-Guided Angular Momentum Control and Impact Absorption
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Highly dynamic movements such as jumping are important to improve the agility and environmental adaptation of humanoid robots. This article proposes an online optimization method to realize a vertical jump with centroidal angular momentum (CAM) control and landing impact absorption for a humanoid robot. First, the robot's center of mass (CoM) trajectory is generated by nonlinear optimization. Then, a quasi-sliding mode controller is designed to ensure that the robot tracks the CoM trajectory accurately. To avoid unexpected spinning in the flight phase, a center-of-pressure-guided angular momentum controller is designed to stabilize the CAM. The modifications of CoM and CAM are realized by online optimization of dynamic components and inverse dynamics. Two quadratic programming optimizations are utilized to generate feasible contact force/torque and joint acceleration referring to uplevel CoM and CAM controllers. In addition, a viscoelastic model-based controller is designed to absorb the vibration caused by a large contact impact. A simulation and experiment of a 0.5-m high (foot lifting distance) vertical jump are achieved on a humanoid robot platform in this article (Fig. 1).Keywords:
Inverse dynamics
Angular acceleration
Centripetal force
Angular acceleration
Circular motion
Moment of inertia
Projectile motion
Constant of motion
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Humanoid robots are being expected to do various kinds of jobs in our daily environment in near future. In that case, passing through a door is one of the important functions to be realized by humanoid robots. We analyzed the area that fulfills two conditions: the humanoid robot can reach a doorknob without other collisions with environments, and the humanoid robot can keep stability against the reaction force from the door. The trajectory of the humanoid was then designed by connecting centers of inscribed circles drawn in the area. Effectiveness of the proposed method was experimentally confirmed with the humanoid robot HRP-2.
Inscribed figure
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A new torque cancelling system (TCS) that stabilizes mechanical sway in quick-motion robots is discussed in this paper. It cancels the reaction moment generated by the motion of an object by considering the precise dynamics of the object and the body of the robot itself. The reaction moment can be obtained accurately using the parallel solution scheme of inverse dynamics, which handles the dynamics of complex robotic architectures by modeling them with finite elements. Once the reaction moment is known, it can be cancelled by applying an anti-torque to a torque generating device. In this paper, the general concepts of the TCS and the parallel solution scheme are first described. Then, some examples of torque cancelling due to accurate calculations of dynamics are demonstrated, by showing the experimental results carried out on a prototype TCS system. The objects used in the experiments include rigid and flexible, outboard and inboard links, where difficult assumptions are normally required to consider the accurate dynamics.
Inverse dynamics
Dynamics
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Model based controllers are widely used to control motions of humanoid robots. In most cases these are based on the center of mass (CoM) model of the humanoid. For this it is important that the parameters of this model are accurately known. In this paper we contribute a method to estimate the base parameters of the full 3D CoM model of humanoid robots. This method only uses measurements of the joint angles and static contact forces for a number of postures. We also contribute a method to determine optimal stable measurement postures. The estimation method is verified in experiments on humanoid robot TUlip and a statistical analysis is performed to check the reliability of the estimated base parameters.
Base (topology)
Contact force
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With a physical form similar to that of a human, humanoid robots can be used as proxies or assistants to perform tasks in a real-world environment on behalf of humans. Various humanoid robots have been developed worldwide, and currently, humanoid robots are able to work in our daily life environment. This paper introduces some of the ongoing research and development of humanoid, and discusses the problems, approaches and applications for the next generation humanoid.
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Determining individual muscles forces from human performance has greatly depended on the quality of inverse dynamics solutions, as muscle force decomposition remains the only feasible approach for determining muscle forces non-invasively in human movement. However, legitimate questions about the accuracy of inverse dynamics arise, with resultant torques/forces failing to drive a forward model through the observations from which they were derived. While optimization of forward dynamics to match experimental data is considered more accurate, the simplicity and low computational costs of inverse methods are favored over the large computing requirements of optimization. In this paper, an evolution in the inverse methods for computing accurate and reliable torques is presented, whereby the relative speed of inverse dynamics is combined with the desired accuracy of forward dynamics. This method is based on developing a nonlinear tracker that determines the net muscle torques which accurately follow clinically observed kinematics and ground reaction forces. The results show that the method is robust and can produce accurate estimates of the joint torques during movement. The method outlined here is a necessary first step to solving the muscle force indeterminancy problem more efficiently.
Inverse dynamics
Tracking (education)
Dynamics
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With a physical form similar to that of a human, humanoid robots can be used as proxies or assistants to perform tasks in a real-world environment on behalf of humans. Various humanoid robots have been developed worldwide, and currently, humanoid robots are able to work in our daily life environment. This paper introduces some of the ongoing research and development of humanoid, and discusses the problems, approaches and applications for the next generation humanoid.
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We have developed a software platform, called OpenHRP, for humanoid robotics which consists of a dynamic simulator and motion control library for humanoid robots. This paper attempts to answer a frequently asked question "do the dynamic simulations and the experiments of biped walking of humanoid robots correspond?". Using OpenHRP and humanoid robots HRP-1S and HRP-2P, the comparisons between the simulations and experiments are shown at various aspects.
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Push recovery is one of the most challenging problems for the current humanoid robots. The importance of push recovery can be well observed in the real environment. The critical issue for a humanoid is to maintain and recover its balance against any disturbances. In this research two novel strategies have been devised to recover the balance of the humanoid which are called "knee strategy" and "knee-hip strategy". Also, a mathematical model validates the efficiency of the proposed strategies as demonstrated in the paper. Stable regions of proposed strategies illustrate that the humanoid can recover its stability in a robust manner. Experiments have been conducted on a humanoid robot and demonstrate that the proposed strategies can help the robot to recover the stability in the real environment.
Push and pull
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A humanoid robot is a robot simulating the human body. The design is for functional purposes, like interacting with human tools and environments, for the purpose of experimentation, or for other purposes. In general, humanoid robots have body parts like humans, though some humanoid robots may replicate only part of the body, for example, from the waist up. Some humanoid robots have heads designed to simulate human facial features such as eyes and mouths. Humanoid robots built to aesthetically simulate humans as Androids
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