Real-time whole-body motion generation using torso posture regression and center of mass

Material type: 文書・図像類

Author: Tsuichihara, Satokiほか

Publisher: JSME Robotics and Mechatronics Division

Publication date: 2018-04-27

Material Format: Digital

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Note (General)：: For household humanoid robots, reaching as much workspace as possible with their hands is an important issue because the locations of target objects m...

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Material Type: 文書・図像類
Title: Real-time whole-body motion generation using torso posture regression and center of mass
Author/Editor: Tsuichihara, Satoki
Hakamata, Yuya
Garcia Ricardez, Gustavo Alfonso
Takamatsu, Jun
Ogasawara, Tsukasa
Author Heading: Tsuichihara, Satoki
Hakamata, Yuya
Garcia Ricardez, Gustavo Alfonso
Takamatsu, Jun
Ogasawara, Tsukasa
Publication, Distribution, etc.: JSME Robotics and Mechatronics Division
Publication Date: 2018-04-27
Publication Date (W3CDTF): 2018-04-27
Alternative Title: Real-time whole-body motion generation using torso posture regression and center of mass
Periodical title: ROBOMECH Journal
No. or year of volume/issue: 5 1
Volume: 5
Issue: 1
Pages: 1-13
ISSN (Periodical Title): ISSN : 2197-4225
Text Language Code: eng
Subject Heading: Coordinated movement
Whole-body motion
Humanoid robot
Visual feedback
Target Audience: 一般
Note (General): For household humanoid robots, reaching as much workspace as possible with their hands is an important issue because the locations of target objects may range from the floor to above the robot’s head. At the same time, to adapt to the constantly-changing household environment, inverse kinematics for the whole body must be solved in real time. In this paper, to achieve real-time motion generation for a humanoid robot, we propose a method of separating the inverse kinematics calculation into simpler problems. Using regression to estimate the torso orientation, we independently solve inverse kinematics for the lower body and both arms. First, using the target pose of both hands as input, we calculate the orientation of the torso and determine the target position of the center of mass considering the reachability of both arms. At each control step, we calculate the joint angles of the lower body from the position of the center of mass, feet poses, and torso orientation. Then, we calculate the joint angles of both arms. In experiments, we apply the proposed method to a human-size humanoid robot for reaching low-height positions while hunkering down. The proposed inverse kinematics solver is ten times faster than the numerical solution using the Jacobian matrix. We also verify the applicability of the proposed method using a sequence of random target positions for the hands as input.
Access Restrictions: 限定公開
Related Material (DOI): 10.1186/s40648-018-0105-y
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 福井大学 : 福井大学学術機関リポジトリ