非共面接触における衝撃を考慮した多接触バランス基準
Impact-Aware Multi-Contact Balance Criteria
脚式ロボットが意図的に衝撃を与えつつバランスを保つための新しい基準を提案し、非共面接触におけるゼロステップキャプチャ領域と摩擦衝撃ダイナミクスを考慮した着地後CoM速度の集合を計算して、HRP-4のシミュレーションで検証した。
著者: Yuquan Wang, Arnaud Tanguy, Abderrahmane Kheddar
分類: cs.RO, cs.SY, eess.SY, math.OC
原文アブストラクト
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on two feet. Strangely, violating the usual zero moment point balance criteria did not systematically result in a fall. To investigate this phenomenon, we propose the zero-step capture region for non-coplanar contacts, defined as the center of mass (CoM) velocity area, and validated it with push-recovery experiments employing the HRP-4 balancing on two non-coplanar contacts. To further enable on-purpose impacts, we compute the set of candidate post-impact CoM velocities accounting for frictional-impact dynamics in three dimensions, and restrict the entire set within the CoM velocity area to maintain balance with the sustained contacts during and after impacts. We illustrate the maximum contact velocity for various HRP-4 stances in simulation, indicating potential for integration into other task-space whole-body controllers or planners. This study is the first to address the challenging problem of applying an intentional impact with a kinematic-controlled humanoid robot on non-coplanar contacts.
