Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts скачать в хорошем качестве

Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts

This video present the assessments of two contribution to the balance of humanoid robot in multi-contact scenario on the HRP-4 humanoid robot. The first contribution is the enhancement of the computation of a balance region in which the Center of Mass (CoM) of the robot should stay to avoid falling. This region is then used as a constraint in our whole-body framework. The second contribution is a CoM admittance strategy to improve the CoM behavior with respect to contact force. Combined together these contributions allow for reliable balance in multi-contact scenario with fixed and moving unilateral contacts. Paper's Abstract : Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the computational performance of state-of-the-art geometric center-of-mass inclusion-based balance method to be integrated online as part of a task-space whole-body control framework. As a consequence, our second contribution lies in integrating such a balance region with relevant contact force distribution without pre-computing a target center-of-mass. This last feature is essential to leave the latter with freedom to better comply with other existing tasks that are not captured in classical twolevel approaches. We assess the performance of our proposed method through experiments using the HRP-4 humanoid robot. Paper's link : https://hal.archives-ouvertes.fr/hal-... Paper's Authors : Julien Roux, Saeid Samadi, Eisoku Kuroiwa, Takahide Yoshiike, Abderrahmane Kheddar