Whole Body Control and Planning for Humanoid Robots
Date Issued
2012
Date
2012
Author(s)
Lee, Hung-Yi
Abstract
In this thesis, we attempt to control the entire body of a humanoid robot that was developed by our laboratory. Our goal is to allow the humanoid robot to use its body to perform some tasks that are controlled by the Center of Gravity (COG) trajectory and the trajectory of the robot legs and arms.
Our study uses preview control to generate the robot’s COG trajectory and then the COG and end-effector trajectory are sent to the IK-solver to determine the trajectory of all of the joints. The IK-solver makes calculations for 24 joints, which include the six joints in each of the robot legs and arms. Using force sensors that was installed on the wrists and ankles, the robot can move objects in three different ways. It can push a cart to move a heavy object, use both arms to lift an object, and have one arm holding an object, while the other performs another task. The force sensors on the robot wrists can also measure the weight of the object or the force that is exerted on the cart. Similarly, the force sensor on its ankles can measure the reaction force of the footpad and calculate the Zero Moment Point (ZMP) of the robot. Based on this information, the robot is able to adjust the COG trajectory.
Although we have provided the robot with information about the shape and position of the object, the robot does not initially know the object’s weight. If the robot is able to recognize the shape of the object, it can choose a suitable method for moving it. This will allow the robot operate more easily in daily lift.
Subjects
Humanoid Robot
Real-time Walking Pattern Generation
ZMP
Whole Robot Motion Planning
Inverse Kinematics
Type
thesis
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