This paper presents the trajectory planning for stepping over obstacles of different sizes at known location by Humanoid Robot BHR-2. In the trajectory generation method, first we formulate the constraints of the foot motion parameters which include obstacle dimensions. By varying the values of the constraint parameters, we can produce different types of foot motion for stepping over different obstacles. In this method, first the foot trajectory is generated and then the waist trajectory is computed by using constrained cubic spline interpolation without first calculating the ZMP trajectory. The advantage of using constrained cubic spline interpolation is to minimize the overshoots at intermediate points, which results in a more stable and smooth trajectory. The effectiveness of the method is confirmed by simulations and experiments with our developed humanoid robot with 32 DOF.

The launching-arrival stage of the shield is the most dangerous construction stage in subway construction. During the conversion process of the soil and air medium in the shield machine, water inrush at the excavation surface often occurs because of the effect of groundwater. Previous research has focused on the overall stress and deformation of existing tunnels caused by water inrush from the excavation face of the shield machine excavation stage. However, the stress and deformation states of the segments and anchors at different assembly locations of the tunnel, as well as the interaction between the soil reinforcement region and the segments and anchors in the launching-arrival stage have not been considered in previous studies. In this study, the inrush model of the launching-arrival stage of the subway shield was established by utilizing the equivalent refinement modeling technology and ABAQUS simulation analysis with consideration of the fluid-solid coupling effect of water and soil to study the influences of different water head differences on the mechanical and deformation properties of segments and anchors in shield construction under the conditions of water inrush on the excavation surface. The results showed that the water inflow from the tunnel excavation surface caused significant surface subsidence at the tunnel portal, vertical convergence at the cross section of the shield tunnel, and significant increases in the axial and shear forces on the bolt. In addition, based on the existing subway regulation, combined with the simulation results of soil reinforcement measures at different depths, the emergency control criterion for controlling water inrush on the excavation surface was established by using the depth of soil reinforcement. The minimum depth of the reinforced soil from the ground surface at 15 m is recommended to ensure construction safety of the subway shield at the launching-arrival stage.

This paper explores the method of designing humanoid motion considering rhythm based on human motion capture. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is expected that humanoid movements are highly similar to those of the human actor. In this paper, first the motion of the human actor is segmented into primitive motions. Then, the kinematics constraints and stability adjustment method are formulated. Next, the similarity evaluation considering rhythm is discussed, and the method to derive humanoid motion with high similarity, and satisfying kinematic constraints and dynamic stability, is presented. Finally, the effectiveness of the proposed method is illustrated by the experiment of Chinese Kungfu "sword" motion using our developed humanoid robot BHR-2 with 32 DOF.

No abstract

No abstract