Advertisement

Humanoid Posture Selection for Reaching Motion and a Cooperative Balancing Controller

  • 311 Accesses

  • 7 Citations

Abstract

Our goal in this research was to develop a motion planning algorithm for a humanoid to enable it to remove an object that is blocking its path. To remove an object in its path, a humanoid must be able to reach it. Simply stretching its arms, which in a humanoid are shorter than its body and legs, is not sufficient to reach an object located at some distance away or on the ground. Therefore, reachability has to be ensured by a combination of motions that include kneeling and orienting the pelvis. However, many posture selection options exist because of the redundancy of a humanoid. In this research, we focused on the optimization of the posture of a humanoid that is reaching toward a point. The posture selected depends on the initial posture, the location of the point, and the desired manipulability of the humanoid’s arms. A cooperative balancing controller ensures the stability of the reaching motion. In this paper, we propose an algorithm for reaching posture selection and a balancing controller for humanoids, and we present the results of several experiments that confirm the effectiveness of the proposed algorithm and controller.

This is a preview of subscription content, log in to check access.

Access options

Buy single article

Instant unlimited access to the full article PDF.

US$ 39.95

Price includes VAT for USA

Subscribe to journal

Immediate online access to all issues from 2019. Subscription will auto renew annually.

US$ 199

This is the net price. Taxes to be calculated in checkout.

References

  1. 1.

    Kajita, S., et al.: Biped walking stabilization based on linear inverted pendulum tracking. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE (2010)

  2. 2.

    Kajita, S., et al.: Biped walking pattern generation by using preview control of zero-moment point. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA’03, vol. 2. IEEE (2003)

  3. 3.

    Kajita, S., et al.: A running controller of humanoid biped HRP-2LR. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005. IEEE (2005)

  4. 4.

    Yoneda, H., et al.: “Vertical ladder climbing motion with posture control for multi-locomotion robot”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008. IEEE (2008)

  5. 5.

    Ott, C., et al.: A humanoid two-arm system for dexterous manipulation. In: 6th IEEE-RAS International Conference on Humanoid Robots, 2006. IEEE (2006)

  6. 6.

    Kim, M.-S., Oh, J.H.: Posture control of a humanoid robot with a compliant ankle joint. Int. J. Humanoid Robot. 7.01, 5–29 (2010)

  7. 7.

    Nakamura, Y., Hanafusa, H., Yoshikawa, T.: Task-priority based redundancy control of robot manipulators. Int. J. Robot. Res. 6.2, 3–15 (1987)

  8. 8.

    Kanoun, O., Lamiraux, F., Wieber, P.-B.: Kinematic control of redundant manipulators: Generalizing the task-priority framework to inequality task. IEEE Trans. Robot. 27.4, 785–792 (2011)

  9. 9.

    Kim, I., Oh, J.-H.: Inverse kinematic control of humanoids under joint constraints. Int. J. Adv. Robot. Sy. 10, 74 (2013)

  10. 10.

    Inoue, K., et al.: Mobile manipulation of humanoid robots-body and leg control for dual arm manipulation. In: Proceedings of the IEEE International Conference on Robotics and Automation, 2002, ICRA’02, vol. 3. IEEE (2002)

  11. 11.

    Takubo, T., et al.: Mobile manipulation of humanoid robots-control method for com position with external force. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, (IROS 2004), vol. 2. IEEE (2004)

  12. 12.

    Yoshikawa, T.: Dynamic manipulability of robot manipulators. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2. IEEE (1985)

  13. 13.

    Nagatani, K., et al.: Motion planning for mobile manipulator with keeping manipulability. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, vol. 2. IEEE (2002)

  14. 14.

    Zhang, Y., Ma, S.: Minimum-energy redundancy resolution of robot manipulators unified by quadratic programming and its online solution. In: International Conference on Mechatronics and Automation, ICMA 2007. IEEE (2007)

  15. 15.

    Levemberg, K.: A method for the solution of certain problems nonlinear in least square. Quarth. Appl. Math. 2, 164–168 (1944)

  16. 16.

    Marquardt, D.W.: An algorithm for least-squares estimation of nonlinear parameters. J. Soc. Ind. Appl. Math. 11.2, 431–441 (1963)

  17. 17.

    Park, I.-W., Kim, J.-Y., Oh, J.-H.: Online walking pattern generation and its application to a biped humanoid robot–KHR-3 (HUBO). Adv. Robot. 2–3, 159–190 (2008)

Download references

Author information

Correspondence to Jun-Ho Oh.

Electronic supplementary material

Below is the link to the electronic supplementary material.

(AVI 17.5 MB)

(AVI 17.5 MB)

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Lee, I., Oh, J. Humanoid Posture Selection for Reaching Motion and a Cooperative Balancing Controller. J Intell Robot Syst 81, 301–316 (2016) doi:10.1007/s10846-015-0225-z

Download citation

Keywords

  • Humanoid reaching motion
  • Balancing controller
  • Posture selection