Humanoid Robot Kinematics Modeling Using Lie Groups

Abstract

ABSTRACT.This paper presents new analytical methods, using techniques from the theory of Lie Groups and tools from Computational Geometry, to develop algorithms for kinematics modeling and path-planning of humanoid robots. We introduce deterministic solutions, geometrically meaningful and numerically stable, based on the PoE (Product of Exponentials formula), which allows us to develop algorithms to solve the humanoid mechanical problem, even for real-time applications. Besides, to solve the path-planning problem, we introduce a close-form solution based on the FMM (Fast Marching Methods) used to study interface motion. The first development of this paper is a new approach for the analysis of the humanoid model; this is the humanoid SKD (Sagital Kinematics Division). The second development is the construction of the new FM3 (Fast Marching Method Modified) algorithm for the humanoid collision-free WBT (Whole Body Trajectory) calculation. In addition, the third main goal of this work is to build a general and analytical solution for the humanoid kinematics problem (direct and inverse); this is the new humanoid OSG (One Step to Goal) algorithm. The works are presented along with computed examples using both simulated and experimental results with the humanoid robot RH0 at the University Carlos III of Madrid.

Teo: Full-Size Humanoid Robot Design Powered by a Fuel Cell System

“…The main research objectives of this platform have been the stability of the robot (Kaynov et al 2009) and the gait generation (Pardos and Balaguer 2005;Arbulú and Balaguer 2007), though other research activities have focused on human-robot interaction (Staroverov, Ricardo Martinez, et al 2007;Staroverov, Marcos, et al 2007) and collaboration (Pierro, Monje, and Balaguer 2008). In fact, these two first versions aim at studying stable walking and do not consider upper part movements related to physical collaboration.…”