RHO humanoid robot bipedal locomotion and navigation using Lie groups and geometric algorithms

Abstract

The humanoid bipedal locomotion requires computationally efficient solutions of the navigation and inverse kinematics problems. This paper presents analytic methods, using tools from computational geometry and techniques from the theory of Lie groups, to develop new geometric algorithms for the navigation path planning, locomotion movement, and kinematics modeling of humanoid robots. To solve the global navigation problem, we introduce the new fast marching method modified (FM3) algorithm, based on the fast marching methods (FMM) used to study interface motion, that gives a close-form solution for the humanoid collision-free whole body trajectory (WBT) calculation. For the bipedal locomotion, we build the new geometric algorithm one step to goal (OSG), to produce a general solution for the body and footstep planning which make the humanoid to move a single step towards a defined objective. We develop the new approach called sagittal kinematics division (SKD), for the humanoid modeling analysis, to allow us to solve the humanoid inverse kinematics problem using the mathematical techniques of Lie groups, like the product of exponentials (POE). The works are presented along with computed examples of the humanoid robot RH0 at the University Carlos III of Madrid. We remark that this paper introduces only closed-form solutions, numerically stable and geometrically meaningful, suitable for real-time applications.

Design of Hybrid Mobile Service Robot

“…The proposed solution combines the advantages of both principles of movement, making the mobile undercarriage becomes universal. This principle is already documented in many other existing solutions [2,3]. Their advantage is undoubtedly confirmed.…”

“…Lately, more often hybrid mobile chassis in which walking foot wheel is completed. [3,4] In the field, the authors develops prototype walking arm with the wheel at the end for rescue application. This is done within the project "A comprehensive modular robotic system of middle category with higher intelligence."…”

Dynamic acyclic motion from a planar contact-stance to another

“…2): (i) the ZMP-previous control [19] that will be adjusted to our problem for dynamic stable transition, (ii) the kinematics and dynamics modelling under Lie groups, (iii) Paden-Kahan sub-problems and screw theory [15], [16], [21]. Those theories allow us to compute the inverse kinematics directly without internal singularities and dynamics modelling, [22] by Jacobian manipulator.…”

Design of Service Robot for Rescue Operations

“…Application possibilities of rescue service robots can be explained by the two-level structuring system, which gives room for the classification of service robots, which are suitable for application in the security sector, but also for the construction of the type series of service robots for service tasks (Fig. 1) [3]. For this model, the options for deployment of service robots in the salvage lie in deploying service robots into places that require direct performance of specific professional activities.…”

“…In mode wheel, wheels are used on relatively flat terrain, in difficult terrain can use a hybrid system that active wheels are used for movement and legs for overstepping of stages . To overcome barriers to the type of step or gorge is possible to use pure mode of walking [4].…”