Goal-Oriented Simulation-Based Motion Interpolator for Complex Contact Transition: Experiments on Knee-Contact Behavior

被引：0

作者：

Noda, Shintaro ^{[1
]}

Kakiuchi, Yohei ^{[1
]}

Takeda, Hiroki ^{[1
]}

Okada, Kei ^{[1
]}

Inaba, Masayuki ^{[1
]}

机构：

[1] Univ Tokyo, Grad Sch Informat Sci & Technol, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138656, Japan

来源：

2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2018年

关键词：

BODY; DYNAMICS;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

It is in process to build robust robotics system enabling whole-body multi-contact motion. In this paper, we have experiments on knee-contact motions to preliminary investigate motion planning algorithm to generate whole-body multi-contact behavior. Our motion interpolator is goal-oriented in that the interpolator does not specify detailed contact constraints such as fixed contact point on link, friction cone constraints and timing of contact switching. The goal-oriented feature enables to generate complex contact transition including sliding, rotating and dynamic contact transition. The interpolator generates whole-body trajectory to achieve goal state considering physical feasibility such as whole-body dynamics, collision, and joint torque limitations by using dynamics simulator. Further, the generated knee-contact motions are achieved by actual humanoid robot RHP4B to check difference between simulated motion and actual result.

引用

页码：761 / 767

页数：7