To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorith...To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.展开更多
Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots.Aiming at solving the positioning problem of humanoid robots,we have designed a legged odometry algori...Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots.Aiming at solving the positioning problem of humanoid robots,we have designed a legged odometry algorithm based on forward kinematics and the feed back of IMU.We modeled the forward kinematics of the leg of the humanoid robot and used Kalman filter to fuse the kinematics information with IMU data,resulting in an accurate estimate of the humanoid robot’s position and velocity.This odometry method can be applied to different humanoid robots,requiring only that the robot is equipped with joint encoders and an IMU.It can also be extended to other legged robots.The effectiveness of the legged odometry scheme was demonstrated through simulations and physical tests conducted with the Walker2 humanoid robot.展开更多
Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is proposed.For simplified models,that is,the linear inverted pendulum model an...Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is proposed.For simplified models,that is,the linear inverted pendulum model and variable-length inverted pendulum model,self-stabilisation of walking gait can be obtained if virtual constraints are properly defined.This result is extended to the full dynamic model of humanoid robots by using an essential dynamic model,which is developed based on the zero dynamics concept.With the proposed method,a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically,following its intrinsic dynamic characteristics.This exempts the robot from the time-consuming high-level control approaches,especially when a full dynamic model is applied.How different walking patterns/features(i.e.,the swing foot motion,the vertical centre of mass motion,the switching manifold configuration,etc.)affect the stability of the walking gait is analysed.Simulations are conducted on robots Romeo and TALOS to support the results.展开更多
基金The Key-Area Research and Development Program of Guangdong Province,China(No.2019B010154003)。
文摘To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction,an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed.The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree,and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency.Then the generated path is reversely optimized to shorten the length of the planned path,and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion.Finally,the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2,a large humanoid service robot.
基金supported in part by the National Natural Science Foundation of China(62373223)the Open Research Projects of the State Key Laboratory of Robotics(2023-010).
文摘Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots.Aiming at solving the positioning problem of humanoid robots,we have designed a legged odometry algorithm based on forward kinematics and the feed back of IMU.We modeled the forward kinematics of the leg of the humanoid robot and used Kalman filter to fuse the kinematics information with IMU data,resulting in an accurate estimate of the humanoid robot’s position and velocity.This odometry method can be applied to different humanoid robots,requiring only that the robot is equipped with joint encoders and an IMU.It can also be extended to other legged robots.The effectiveness of the legged odometry scheme was demonstrated through simulations and physical tests conducted with the Walker2 humanoid robot.
基金National Natural Science Foundation of China,Grant/Award Numbers:62063006,62173319,U1813208Shenzhen Fundamental Research Program,Grant/Award Number:JCYJ20200109115610172+1 种基金Guangdong Basic and Applied Basic Research Foundation,Grant/Award Number:2020B1515120054National Key Research and Development Program of China under Grant,Grant/Award Number:2018AAA0103001。
文摘Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is proposed.For simplified models,that is,the linear inverted pendulum model and variable-length inverted pendulum model,self-stabilisation of walking gait can be obtained if virtual constraints are properly defined.This result is extended to the full dynamic model of humanoid robots by using an essential dynamic model,which is developed based on the zero dynamics concept.With the proposed method,a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically,following its intrinsic dynamic characteristics.This exempts the robot from the time-consuming high-level control approaches,especially when a full dynamic model is applied.How different walking patterns/features(i.e.,the swing foot motion,the vertical centre of mass motion,the switching manifold configuration,etc.)affect the stability of the walking gait is analysed.Simulations are conducted on robots Romeo and TALOS to support the results.
