Simultaneous Prevention of Rotational and Translational Slip for a Humanoid Robot

Zhou, Qinqin; Yu, Zhangguo; Zhang, Si; Chen, Xuechao; Qin, Mingyue; Zhang, Weimin; Huang, Qiang

doi:10.3390/app8091554

Cited by 4 publications

(3 citation statements)

References 24 publications

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“…Also, the trajectory of CoM while increasing and decreasing the right-hand force is shown in Figure (6). Position of the CoM moves forward by increasing the target normal force and lays back by decreasing the force.…”

Section: Experiments and Resultsmentioning

confidence: 99%

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Balance of Humanoid robot in Multi-contact and Sliding Scenarios

Samadi,

Caron,

Tanguy

et al. 2019

Preprint

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This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the centerof-mass (CoM) within an admissible convex area. This area should be calculated based on the contact positions and forces. We introduce a methodology to compute this CoM support area (CSA) for multiple fixed and sliding contacts. To select the most appropriate CoM position inside CSA, we account for (i) constraints of multiple fixed and sliding contacts, (ii) desired wrench distribution for contacts, and (iii) desired position of CoM (eventually dictated by other tasks). These are formulated as a quadratic programming optimization problem. We illustrate our approach with pushing against a wall and wiping and conducted experiments using the HRP-4 humanoid robot.

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Section: Experiments and Resultsmentioning

confidence: 99%

“…Recent works on humanoid robots are mostly focused on avoiding [5], [6] or recovering [7], [8] slips. Keeping the balance while sliding on purpose has been studied for two feet contacts in both rotational and translational directions.…”

Section: Introductionmentioning

confidence: 99%

Balance of Humanoid robot in Multi-contact and Sliding Scenarios

Samadi,

Caron,

Tanguy

et al. 2019

Preprint

View full text Add to dashboard Cite

show abstract

“…Diverse strategies for mitigating slipperiness in walking humanoids primarily revolve around studying and adapting humanoid gaits to compensate for the yaw moment [22] or minimize the required coefficient of friction [23]. While some approaches focus on finding the best possible trajectory, our work takes a different approach by adapting in real time to the slipperiness of various floors the robot may encounter.…”

Section: Introductionmentioning

confidence: 99%

Enhancement of humanoid robot locomotion on slippery floors using an adaptive controller

Almeida,

Santos,

Ferreira

2024

Robotica

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This paper presents a comprehensive strategy to improve the locomotion performance of humanoid robots on various slippery floors. The strategy involves the implementation and adaptation of a divergent component of motion (DCM) based control architecture for the humanoid NAO, and the introduction of an embedded yaw controller (EYC), which is based on a proportional-integral-derivative (PID) control algorithm. The EYC is designed not only to address the slip behavior of the robot on low-friction floors but also to tackle the issue of non-straight walking patterns that we observed in this humanoid, even on non-slippery floors. To fine-tune the PID gains for the EYC, a systematic trial-and-error approach is employed. We iteratively adjusted the P (Proportional), I (Integral), and D (Derivative) parameters while keeping the others fixed. This process allowed us to optimize the PID controller’s response to different walking conditions and floor types. A series of locomotion experiments are conducted in a simulated environment, where the humanoid step frequency and PID gains are varied for each type of floor. The effectiveness of the strategy is evaluated using metrics such as robot stability, energy consumption, and task duration. The results of the study demonstrate that the proposed approach significantly improves humanoid locomotion on different slippery floors, by enhancing stability and reducing energy consumption. The study has practical implications for designing more versatile and effective solutions for humanoid locomotion on challenging surfaces and highlights the adaptability of the existing controller for different humanoid robots.

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Kinetostatic analysis for compliant legged robots with ground contact forces evaluation

Tonetto

Simas²

2022

Meccanica

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Simultaneous Prevention of Rotational and Translational Slip for a Humanoid Robot

Cited by 4 publications

References 24 publications

Balance of Humanoid robot in Multi-contact and Sliding Scenarios

Balance of Humanoid robot in Multi-contact and Sliding Scenarios

Enhancement of humanoid robot locomotion on slippery floors using an adaptive controller

Kinetostatic analysis for compliant legged robots with ground contact forces evaluation

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