Rotational Sliding Motion Generation for Humanoid Robot by Force Distribution in Each Contact Face

Kojima, Kazuyuki; Ishiguro, Yasuhiro; Sugai, Fumihito; Nozawa, Satoshi; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/lra.2017.2719765

Cited by 9 publications

(6 citation statements)

References 18 publications

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“…For example Phase3 of leg-wheel phases, we show the comparison result between (A) Without lateral constraint and (B) With lateral constraint Eq. (7) in Fig.6. In Fig.6, the walls of narrow space are highlighted in red and we set the distance between walls as 750 [mm].…”

Section: Stability Margin Maximization With Lateral Constraintmentioning

confidence: 94%

“…In this experiment, we set lateral constraint as ε = 55. One cycle of this locomotion is composed of 18 phases and stability margin maximization with lateral constraint is applied on Phase3, 4,7,8,11,12,15,16. On the phases that both feet of robot are grounded before and after these leg-wheel phases, the transition is executed without changing center of gravity projection point such To consider the efficiency of locomotion, we compare the electric power and energy consumed by the locomotion based on stability margin maximization with utilizing passive wheel with by the locomotion based on single leg stance as shown in Fig.5 without utilizing passive wheel.…”

Section: Methodsmentioning

confidence: 99%

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Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Kimura

Imaoka

Noda

et al. 2020

Preprint

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This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall, and the adaptability by prevention of body swing sideways. To achieve these, we propose the stability margin maximization to optimize center of gravity projection for support polygon and the fall prevention functions for real environment that is a diﬃcult situation to prevent unexpected fall by the only planning. Finally, we apply the proposed methods to leg-wheel phases through locomotion and verify the contribution by experiments using real bipedal robot.

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Section: Stability Margin Maximization With Lateral Constraintmentioning

confidence: 94%

Section: Methodsmentioning

confidence: 99%

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Kimura

Imaoka

Noda

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Utilizing the slipperiness of passive wheel reduces the high friction and the high load such as the shuffle motion [7] of bipedal robot and enables the smaller shaking locomotion than the shuffle motion requiring the complex distribution of sole contact force and frictional force.…”

Section: Prevention Of Body Swing Sidewaysmentioning

confidence: 99%

“…For example Phase3 of leg-wheel phases, we show the comparison result between (A) Without lateral (7) −ε ≤ y ≤ ε constraint and (B) With lateral constraint Eq. 7in Fig.…”

Section: Stability Margin Maximization With Lateral Constraintmentioning

confidence: 99%

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

et al. 2020

Self Cite

View full text Add to dashboard Cite

This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall, and the adaptability by prevention of body swing sideways. To achieve these, we propose the stability margin maximization to optimize center of gravity projection for support polygon and the fall prevention functions for real environment that is a difficult situation to prevent unexpected fall by the only planning. Finally, we apply the proposed methods to leg-wheel phases through locomotion and verify the contribution by experiments using real bipedal robot.

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“…Sliding contacts under active balance is challenging in humanoid robots. There are however successful achievements in specific tasks such as foot shuffling [18], [19]; slip-turns and maneuvers by two feet contacts [20], [21], [22]. Sliding contacts forces must be controlled to be exactly on their friction cone [23].…”

Section: Introductionmentioning

confidence: 99%

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts

Samadi¹,

Roux²,

Tanguy³

et al. 2021

Preprint

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In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position and wrench distribution of the contact points based on the Chebyshev center. Our solution is formulated as a quadratic programming problem without a priori computation of balance regions. We assess our approach with experiments highlighting switches between fixed and sliding contact modes in multi-contact configurations. A humanoid robot demonstrates such contact interchanges from fully-fixed to multi-sliding and also shuffling of the foot. The scenarios illustrate the performance of our control scheme in achieving the desired forces, CoM position attractor, and planned trajectories while actively maintaining balance.

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Rotational Sliding Motion Generation for Humanoid Robot by Force Distribution in Each Contact Face

Cited by 9 publications

References 18 publications

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts

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