An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot

DOI Web Site 被引用文献1件
  • Atsushi Konno
    Department of Aerospace Engineering, Tohoku University, Sendai, Japan
  • Tomoya Myojin
    Department of Aerospace Engineering, Tohoku University, Sendai, Japan
  • Takaaki Matsumoto
    Department of Aerospace Engineering, Tohoku University, Sendai, Japan
  • Teppei Tsujita
    Department of Aerospace Engineering, Tohoku University, Sendai, Japan
  • Masaru Uchiyama
    Department of Aerospace Engineering, Tohoku University, Sendai, Japan

書誌事項

公開日
2011-07-07
権利情報
  • https://journals.sagepub.com/page/policies/text-and-data-mining-license
DOI
  • 10.1177/0278364911405870
公開者
SAGE Publications

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説明

<jats:p>When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method.</jats:p>

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