Aiming for multibody dynamics on stable humanoid motion with special euclideans groups

This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The dynamic models are deduced analitically. The inverse dynamics model is obtained by the Lagrangian formulation under screw theory, when the Jacobian manipulator depends on the respective twist and joint angles; on the other hand, the POE formula drives a very natural and explicit description of the Jacobian manipulator without the drawbacks of local representation. The forward dynamics were solved by propagation method from an end-effector to the center of gravity (COG) always on the SE(3). Many tests for reference dynamic walking patterns have been carried out, which are represented in simulation and experimental results. The results will be discussed in order to validate the proposed algorithms.

[1]  Jerrold E. Marsden,et al.  Dynamics and Control of Multibody Systems , 1989 .

[2]  Lambert Schomaker,et al.  2000 IEEE/RSJ International Conference On Intelligent Robots And Systems , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[3]  Carlos Balaguer,et al.  RHO humanoid robot bipedal locomotion and navigation using Lie groups and geometric algorithms , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Frank Chongwoo Park,et al.  A Lie Group Formulation of Robot Dynamics , 1995, Int. J. Robotics Res..

[5]  Carlos Balaguer,et al.  Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0 , 2005, CLAWAR.

[6]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[7]  Atsuo Takanishi,et al.  Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions , 2006 .

[8]  Mario Ricardo,et al.  Stable locomotion of humanoid robots based on mass concentrated model , 2011 .

[9]  C. Barus A treatise on the theory of screws , 1998 .

[10]  Carlos Balaguer,et al.  Real-time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[11]  Fumio Kanehiro,et al.  Humanoid robot HRP-2 , 2008, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  Miguel Rodriguez,et al.  Rh-0 humanoid full size robot's control strategy based on the Lie logic technique , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[13]  J. D. Everett A Treatise on the Theory of Screws , 1901, Nature.

[14]  Gilmer L. Blankenship,et al.  Symbolic construction of models for multibody dynamics , 1995, IEEE Trans. Robotics Autom..

[15]  Carlos Balaguer,et al.  Real-Time Gait Planning for the Humanoid Robot RH-1 Using the Local Axis Gait Algorithm , 2009, Int. J. Humanoid Robotics.

[16]  David E. Orin,et al.  Robot dynamics: equations and algorithms , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[17]  Kazuhito Yokoi,et al.  Dynamic acyclic motion from a planar contact-stance to another , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Jun-Ho Oh,et al.  Mechanical design of the humanoid robot platform, HUBO , 2007, Adv. Robotics.

[19]  Friedrich Pfeiffer,et al.  Sensors and control concept of a biped robot , 2004, IEEE Transactions on Industrial Electronics.

[20]  K. Hirai,et al.  Current and future perspective of Honda humamoid robot , 1997 .