Backward Ladder Climbing Locomotion of Humanoid Robot with Gain Overriding Method on Position Control

Abstract

We studied ladder climbing locomotion with the humanoid robot, DRC-HUBO, under the constraints suggested by DARPA. Considering the hardware constraints of the robot platform, we planned for the robot to climb backward with four limbs moving separately. Task-priority whole-body inverse kinematics was used to generate and track the motion while maintaining COM inside the support polygon. As ladder climbing is a multicontact motion that generates interaction and internal forces, we resolved these issues using a gain overriding method applied to the position control of the motor controllers. This paper also provides various vision methods and posture modification strategies for the restricted conditions of the challenge. We ultimately verified our work in the DRC trials by getting a full score on the ladder task. C 2015 Wiley Periodicals, Inc.

NimbRo Rescue: Solving Disaster‐response Tasks with the Mobile Manipulation Robot Momaro

“…Its powerful joint motors are equipped with an air cooling system to dispense heat efficiently and allow high payloads. DRC-HUBO can rotate its upper body by 180 • which enables it to climb a ladder with the knees extending backwards (Lim and Oh, 2015). DRC-HUBO is also able to drive over flat terrain, using wheels which are attached to its knees and ankles.…”

Robot System of DRC-HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals

“…It contains all the technologies developed since the first generation of HUBO, KHR‐1, was developed (J. H. Kim, Park, Park, & Oh, ; Park, Kim, Park, & Oh, ). It especially was designed based on what Team KAIST learned and experienced at the previous competition, the DRC Trials (Lim & Oh, ; Oh & Oh, ). In the following subsections, the key features of DRC‐HUBO+’s hardware are briefly described.…”

“…When the robot contacts the environment, small position errors cause high internal forces, and such situations can cause damage to the robot. In the DRC Trials in 2013, Team KAIST applied the Gain Overriding method to deal with this problem (Lim & Oh, ). Using this technique, the robot can be protected from fractures in a multicontact state, and its power consumption decreases.…”

“…The final step of this process is performed by reducing the position control gain of the knee pitch and hip pitch joints. Details of this technique are provided by Lim and Oh (). In this step, the redundant joints of the lower body can act as a kind of passive damping suspension.…”

NAO robot obstacle avoidance based on fuzzy Q-learning

“…Humanoid robot has attracted many researchers in recent years (Lee and Goswami, 2012;Radford et al, 2015;Liu et al, 2014;Lim and Oh, 2016), and autonomous navigation ability of humanoid robot has been a hot research (Kuindersma et al, 2016;Wen et al, 2015bWen et al, , 2014a. Autonomous navigation integrates environment perception, dynamic decision and planning.…”