重心の実行可能領域を利用した粗密段階計算に基づく軌道計画法によるヒューマノイドロボットのはしご昇降と乗り移り動作の実現

DOI Web Site Web Site 参考文献11件

書誌事項

タイトル別名
  • Coarse-to-fine Humanoid Motion Planning Using COM Feasible Region and Achievement of Humanoids Ladder Climbing and Transition
  • ジュウシン ノ ジッコウ カノウ リョウイキ オ リヨウ シタ ソミツ ダンカイ ケイサン ニ モトズク キドウ ケイカクホウ ニ ヨル ヒューマノイドロボット ノ ハシゴショウコウ ト ノリウツリ ドウサ ノ ジツゲン

この論文をさがす

抄録

Trajectory planning for humanoid robots requires satisfying various constraints such as balance, contact, joint limitation, kinematics, and collision. To obtain trajectory efficiently, related research has integrated coarse motion planning to fine full-body trajectory generation. In this paper, we propose a humanoid motion planner satisfying various constraints based on key pose generation by exploiting center-of-mass (COM) feasible region (CFR): (a) We show a method to project approximately balance constraints of statics and dynamics into CFR. (b) We propose a key pose generation capable of considering swing and support phase to satisfy asymptotically CFR constraint while satisfying kinematics constraints. (c) We show a method to obtain full-body trajectory by interpolating obtained key pose. We validate our proposed method through evaluations, in which the robot performs locomotion tasks related to ladder climbing under the stringent constraints, and experiments, in which the real robot achieves ladder motion.

収録刊行物

参考文献 (11)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ