Classification of Standing States for the Humanoid Robot SJTU-HR1

Abstract

The humanoid robot platform, SJTU-HR1, is developed to function within the human-centered environment, which means that it is necessary to study the human-robot interaction, robot-robot interaction, robot-environment interaction, and robot self-interaction. To solve the issue of robot-environment interaction and robot self-interaction, this study presents the state classification from the topological point of view for the SJTU-HR1, particularly the standing states. The generalized function set (G F set for short) theory is exploited to achieve the characteristics of the end-effectors of interest of the SJTU-HR1 for each specific standing state, which can provide deeper insight into the capabilities of the SJTU-HR1. One application example is given to show that the proposed methodology can simplify and clarity the complicated state planning issue for humanoid robots. Moreover, the standing states, including robot-environment interaction and robot self-interaction, can be described using the meaningful notations sufficiently. Although we have focused on the application of the G F set theory on the humanoid robot platform SJTU-HR1, this methodology can also be applied to other biped robots and quadruped robots.