直並列ハイブリッドヒューマノイドRH5の設計・解析・制御
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
軽量かつ高剛性な直並列ハイブリッド構造を持つ身長2m・62.5kgのヒューマノイドRH5を開発し、DDPに基づく全身軌道最適化と接触安定性を改善した歩行軌道生成手法を提案した。
著者: Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner
分類: cs.RO
原文アブストラクト
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.
