部分的な足場や線接触を含む環境でのヒューマノイドAtlasの歩行
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas
足裏の接触面を探索して推定し、全身の運動量制御と上半身の角運動量を活用して、小さな足場や線接触でもヒューマノイドが動的に歩行・バランスを取る手法を提案した。
著者: Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, Jerry Pratt
分類: cs.RO
原文アブストラクト
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of the foothold, but information about an expected foothold can be used to improve the stepping performance. After a step is taken, the robot explores the new contact surface by attempting to shift the center of pressure around the foot. The available foothold is inferred by the way in which the foot rotates about contact edges and/or by the achieved center of pressure locations on the foot during exploration. This estimated contact area is then used by a whole body momentum-based control algorithm. To walk and balance on partial footholds, we combine fast, dynamic stepping with the use of upper body angular momentum to regain balance. We applied this method to the Atlas humanoid designed by Boston Dynamics to walk over small contact surfaces, such as line and point contacts. We present experimental results and discuss performance limitations.
