Title :
Global motion control and support base planning
Author :
Popovic, Marko B. ; Herr, Hugh
Author_Institution :
Lab. of Media, Massachusetts Inst. of Technol., Cambridge, MA, USA
Abstract :
Advanced humanoid robots capable of operating in complex 3D environments likely utilize an online optimization strategy where joint accelerations are varied to achieve whole-body postural balance. To this end, we propose one such strategy that optimizes global body parameters such as spin angular momentum and body principal angles, or the angles between the inertia tensor principal axes and the lab frame axes. This optimization strategy is easily combined with other optimization objectives (e.g. maximal efficiency) subject to physical constraints such as requiring that the ZMP operates within the support base. To deal with Bellman\´s "curse of dimensionality" we suggest, in parallel, two computational simplifications that may make the optimization problem tractable and easily implemented on today\´s humanoid robots. Finally, we address the problem of support base planning during ground and aerial locomotory phases. We propose novel online strategies for robust coordination of interacting limbs compatible with the proposed optimization strategy.
Keywords :
humanoid robots; legged locomotion; motion control; optimisation; robust control; aerial locomotory phase; angular momentum; global motion control; ground locomotory phase; humanoid robots; interacting limbs coordination; optimization; support base planning; zero moment point; Acceleration; Concurrent computing; Constraint optimization; Ground support; Humanoid robots; Joints; Motion control; Motion planning; Robustness; Tensile stress; angular momentum; control; global motion control; humanoid; support base planning;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545560