An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot

2011 ◽  
Vol 30 (13) ◽  
pp. 1596-1608 ◽  
Author(s):  
Atsushi Konno ◽  
Tomoya Myojin ◽  
Takaaki Matsumoto ◽  
Teppei Tsujita ◽  
Masaru Uchiyama
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Sequential Optimization ◽  
Whole Body ◽  
Impact Dynamics ◽  
Impulsive Force ◽  
Motion Generation ◽  
Large Force ◽  
Non Linear ◽  
The Impact

When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method.

HUMANOID ROBOT MOTION GENERATION SCHEME FOR TASKS UTILIZING IMPULSIVE FORCE

2012 ◽  
Vol 09 (02) ◽  
pp. 1250008 ◽  
Author(s):  
TEPPEI TSUJITA ◽  
ATSUSHI KONNO ◽  
SHUNSUKE KOMIZUNAI ◽  
YUKI NOMURA ◽  
TOMOYA MYOJIN ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Three Dimensional ◽  
Humanoid Robots ◽  
Impulsive Force ◽  
Motion Generation ◽  
Three Dimensional Model ◽  
Large Force ◽  
The Impact ◽  
Impact Motion

In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.

Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing

2017 ◽  
Vol 14 (01) ◽  
pp. 1650022 ◽  
Author(s):  
Tianwei Zhang ◽  
Stéphane Caron ◽  
Yoshihiko Nakamura
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Real Life ◽  
Estimation Method ◽  
Humanoid Robots ◽  
Stair Climbing ◽  
Lidar Data ◽  
Motion Generation ◽  
Prior Models ◽  
Motion Generator

Stair climbing is still a challenging task for humanoid robots, especially in unknown environments. In this paper, we address this problem from perception to execution. Our first contribution is a real-time plane-segment estimation method using Lidar data without prior models of the staircase. We then integrate this solution with humanoid motion planning. Our second contribution is a stair-climbing motion generator where estimated plane segments are used to compute footholds and stability polygons. We evaluate our method on various staircases. We also demonstrate the feasibility of the generated trajectories in a real-life experiment with the humanoid robot HRP-4.

DYNAMIC ROLL-AND-RISE MOTION BY AN ADULT-SIZE HUMANOID ROBOT

2004 ◽  
Vol 01 (03) ◽  
pp. 497-516 ◽  
Author(s):  
YASUO KUNIYOSHI ◽  
YOSHIYUKI OHMURA ◽  
KOJI TERADA ◽  
AKIHIKO NAGAKUBO
Keyword(s):  
Critical Points ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
The Body ◽  
Whole Body ◽  
Adult Size ◽  
Constrained Motion ◽  
Goal State ◽  
Trade Offs ◽  
Alternative Approach

Whole-body dynamic actions under various contacts with the environment will be very important for future humanoid robots to support human tasks in unstructured environments. Such skills are very difficult to realize using the standard motion control methodology based on asymptotic convergence to the successive desired states. An alternative approach would be to exploit the passive dynamics of the body under constrained motion, and to navigate through multiple dynamics by imposing the least control in order to robustly reach the goal state. As a first example of such a strategy, we propose and investigate a "Roll-and-Rise" motion. This is a fully dynamic whole-body task including underactuated motion whose state trajectory is insoluble, and unpredictable perturbations due to complex contacts with the ground. First, we analyze the global structure of Roll-and-Rise motion. Then the critical points are analyzed using simplified models and simulations. The results suggest a non-uniform control strategy which focuses on sparse critical points in the global phase space, and allows deviations and trade-offs at other parts. Finally, experiments with a real adult-size humanoid robot are successfully carried out. The robot rose from a flat-lying posture to a crouching posture within 2 seconds.

Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics

2020 ◽  
Vol 34 (21-22) ◽  
pp. 1442-1454
Author(s):  
Yuya Hakamata ◽  
Satoki Tsuichihara ◽  
Gustavo Alfonso Garcia Ricardez ◽  
Jun Takamatsu ◽  
Tsukasa Ogasawara
Keyword(s):  
Inverse Kinematics ◽  
Humanoid Robots ◽  
Whole Body ◽  
Motion Generation ◽  
Pushing And Pulling

scholarly journals Cooking Behavior with Handling General Cooking Tools based on a System Integration for a Life-sized Humanoid Robot

2013 ◽  
Vol 4 (2) ◽  
Author(s):  
Yoshiaki Watanabe ◽  
Kotaro Nagahama ◽  
Kimitoshi Yamazaki ◽  
Kei Okada ◽  
Masayuki Inaba
Keyword(s):  
System Integration ◽  
Humanoid Robot ◽  
Integrated System ◽  
Whole Body ◽  
Motion Generation ◽  
Shape Model ◽  
Task Knowledge ◽  
Reflective Surface ◽  
Cutting Boards ◽  
Dual Arm

AbstractThis paper describes a system integration for a life-sized robot working at a kitchen. On cooking tasks, there should be various tools and foods, and cooking table may have reflective surface with blots and scratch. Recognition functions should be robust to noises derived from them. As other problems, cooking behaviors impose motion sequences by using whole body of the robot. For instance, while cutting a vegetable, the robot has to hold one hand against the vegetable even if another hand with a knife should be moved for the cutting. This motion requires to consider full articulation of the robot simultaneously. That is, we have difficulties against both recognition and motion generation. In this paper we propose recognition functions that are to detect kitchen tools such as containers and cutting boards. These functions are improved to overcome the influence of reflective surface, and combination shape model with task knowledge is also proposed. On the other hand, we pointed out the importance of the use of torso joints while dual arm manipulation. Our approach enables the robot to keep manipulability of both arms and viewing field of a head. Based on these products, we also introduce an integrated system incorporating recognition modules and motion generation modules. The effectiveness of the system was proven through some cooking applications.

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

2009 ◽  
Vol 21 (3) ◽  
pp. 311-316 ◽  
Author(s):  
Kensuke Harada ◽  
◽  
Mitsuharu Morisawa ◽  
Shin-ichiro Nakaoka ◽  
Kenji Kaneko ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Body Motion ◽  
Whole Body ◽  
Gait Planning ◽  
Uneven Terrain ◽  
Walking Pattern ◽  
Dynamic Constraint ◽  
Dynamical Balance

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.

PERCEPTION OF HUMANOID MOVEMENT

2005 ◽  
Vol 02 (03) ◽  
pp. 277-300 ◽  
Author(s):  
FRANK E. POLLICK ◽  
JOSHUA G. HALE ◽  
MARIA TZONEVA-HADJIGEORGIEVA
Keyword(s):  
Computational Efficiency ◽  
Humanoid Robot ◽  
Relative Effectiveness ◽  
Human Movement ◽  
Humanoid Robots ◽  
Motion Artifacts ◽  
Movement Speed ◽  
Space Representation ◽  
Motion Generation ◽  
Psychological Techniques

With the ultimate goal of producing natural-looking movements in humanoid robots and virtual humans, we examined the visual perception of movements generated by different models of movement generation. The models of movement generation included 14 synthetic motion generation algorithms based on theories of human motor production. In addition, we obtained motion from recordings of actual human movement. The resulting movements were applied to both a humanoid robot and a computer graphics virtual human. The computational efficiency of the motion production algorithms is described. In Experiment 1, we examined observers' judgments of the naturalness of a movement. Results showed that, for the humanoid robot, low ratings of naturalness were obtained for rapid movement. In addition, it was found that some movements that appeared to have unremarkable naturalness ratings were anomalous examples of the desired movement. In Experiment 2, we used naturalness ratings to study the influence of movement speed on the humanoid robot. Results indicated that the decrease in naturalness was due to motion artifacts at the ends of the movement. In Experiment 3, we returned to the issue of anomalous movements by obtaining ratings of similarity between pairs of movements, and analyzing these with multi-dimensional scaling to obtain a psychological space representation of the set of movements. Results showed that the presumed anomalous movements were indeed distinctive from the other movements, suggesting that the naturalness judgments did not completely indicate the perception of movement. We discuss these results in the context of what they suggest for the relative effectiveness of the different generation algorithms at producing natural movement, and their relative computational efficiency, as well as in terms of the effectiveness of different psychological techniques for the assessment of humanoid movement.

Rapid whole-body motion generation using regression of the torso posture of a humanoid robot

2017 ◽  
Vol 2017 (0) ◽  
pp. 1A1-P08
Author(s):  
Satoki Tsuichihara ◽  
Yuya Hakamata ◽  
Gustavo Alfonso Garcia Ricardez ◽  
Jun Takamatsu ◽  
Tsukasa Ogasawara
Keyword(s):  
Humanoid Robot ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation
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