From Algorithmic and Computational Robotics: New Directions: The Fourth Workshop on the Algorithmic Foundations of Robotics
Satoshi Kagami, University of Tokyo, Tokyo, Japan
Fumio Kanehiro, University of Tokyo, Tokyo, Japan
Yukiharu Tamiya, Namco Ltd, Tokyo, Japan
Masayuki Inaba, University of Tokyo, Tokyo, Japan
Hirochika Inoue, University of Tokyo, Tokyo, Japan
Algorithms for maintaining dynamic stability are central to legged robot control. Recent advances in computing hardware have enabled increasingly sophisticated physically based simulation techniques to be utilized for the offline generation of dynamically-stable motions for complex robots, such as humanoid robots. However, in order to design humanoid robots that are reactive and robust, a low-level online balancing scheme is required.
This paper presents an online algorithm for automatically generating dynamically stable compensation motions for humanoid robots. Given an input motion trajectory, the "AutoBalancer" software reactively generates a modified dynamically-stable motion for a standing humanoid robot. The system consists of two parts: A planner for state transitions derived from contacts between the robot and the ground, and a dynamic balance compensator which formulates and solves the balance problem as a constrained, second order nonlinear programming optimization problem. The balance compensator can be made to compensate for deviations in the centroid position and tri-axial moments of any standing motion for a humanoid robot, using all joints of the body in real-time. The complexity of the Auto-Balancer algorithm is O((p + c) 3), where p is number of DOFs and c is the number of constraint equations.
We describe results obtained by an experimental implementation of the AutoBalancer algorithm that has been applied to 16-DOF and 30-DOF...
Products & Services
Topics of Interest
Matthew D. Berkemeier, Utah State University, Logan, UT Biologists have uncovered some of the mechanisms at work in the control of legged animals. The animal CPG has received much attention and...
J.-S. KONG Industrial Automation Eng., Inha Univ., Yonghyun-dong, Nam-gu, Incheon, Korea Y.-K. SUNG, J.-G. KIM School of Electrical Eng., Inha Univ., Yonghyun-dong, Nam-gu, Incheon, Korea...
Whether it's human nature, paranoia (the action movie, 'I, Robot', where some famous movie star tries to thwart millions of robots from taking over the world, comes to mind) or something else...
Touting a new approach to parallelizing, high-level synthesis, the Center for Embedded Computer Systems at the University of California at Irvine has released its Spark synthesis tool to engineers.
In This Chapter Introduction Classification of Wheeled Mobile Robots (WMRs) Kinematics and Mathematical Modeling of WMRs Control of WMRs Simulation of...