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Communication Dans Un Congrès Année : 2015

Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations

Résumé

Multi-contact motion generation is an important problem in humanoid robotics because it generalizes bipedal locomotion and thus expands the functional range of humanoid robots. In this paper, we propose a complete solution to compute a fully-dynamic multi-contact motion of a humanoid robot. We decompose the motion generation by computing first a dynamically-consistent trajectory of the center of mass of the robot and finding then the whole-body movement following this trajectory. A simplified dynamic model of the humanoid is used to find optimal contact forces as well as a kinematic feasible center-of-mass trajectory from a predefined series of contacts. We demonstrate the capabilities of the approach by making the real humanoid robot platform HRP-2 climb stairs with the use of a handrail. The experimental study also shows that utilization of the handrail lowers the power consumption of the robot by 25% compared to a motion, where only the feet are used.
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Dates et versions

hal-01179667 , version 1 (23-07-2015)
hal-01179667 , version 2 (28-06-2016)

Identifiants

  • HAL Id : hal-01179667 , version 2

Citer

M Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, C Kirches, et al.. Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2015), Nov 2015, Séoul, South Korea. 7p. ⟨hal-01179667v2⟩
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