Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots

In this paper we provide hindsight on how to use the information provided by the explicit computation of the stability polygon and build on task-based QP controllers to achieve both stable multi-contact smooth transitions and force control without jeopardizing stability. This entails computing stability polygons with unilateral and bilateral contacts and devising a method to continuously constrain the CoM position throughout multi-contact motion in order to effectively regulate the forces applied on the environment while avoiding hard constraints on the CoM and discontinuity between stances.

[1]  J. Munkres.  ALGORITHMS FOR THE ASSIGNMENT AND TRANSIORTATION tROBLEMS* , 1957 .

[2]  Abderrahmane Kheddar,et al.  Humanoid Robot Locomotion and Manipulation Step Planning , 2012, Adv. Robotics.

[3]  Eiichi Yoshida,et al.  Model preview control in multi-contact motion-application to a humanoid robot , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Eiichi Yoshida,et al.  Multi-contact vertical ladder climbing with an HRP-2 humanoid , 2016, Auton. Robots.

[5]  Timothy Bretl,et al.  Testing Static Equilibrium for Legged Robots , 2008, IEEE Transactions on Robotics.

[6]  Christopher G. Atkeson,et al.  Optimization based full body control for the atlas robot , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[7]  Eiichi Yoshida,et al.  Integrating geometric constraints into reactive leg motion generation , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Oussama Khatib,et al.  Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots , 2010, IEEE Transactions on Robotics.

[9]  Marc Alexa,et al.  As-rigid-as-possible shape interpolation , 2000, SIGGRAPH.

[10]  Eugene Wong,et al.  A dual approach to detect polyhedral intersections in arbitrary dimensions , 1991, BIT.

[11]  Gerd Hirzinger,et al.  Posture and balance control for biped robots based on contact force optimization , 2011, 2011 11th IEEE-RAS International Conference on Humanoid Robots.

[12]  Thomas W. Sederberg,et al.  A physically based approach to 2–D shape blending , 1992, SIGGRAPH.

[13]  Alexander Herzog,et al.  Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics , 2013, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Russ Tedrake,et al.  Whole-body motion planning with centroidal dynamics and full kinematics , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[15]  Komei Fukuda,et al.  Double Description Method Revisited , 1995, Combinatorics and Computer Science.

[16]  Stefan Schaal,et al.  Optimal distribution of contact forces with inverse-dynamics control , 2013, Int. J. Robotics Res..

[17]  Vladimir Gurvich,et al.  Generating All Vertices of a Polyhedron Is Hard , 2006, SODA '06.

[18]  S. Nakaoka,et al.  Choreonoid: Extensible virtual robot environment built on an integrated GUI framework , 2012, 2012 IEEE/SICE International Symposium on System Integration (SII).

[19]  Sung-Hee Lee,et al.  A momentum-based balance controller for humanoid robots on non-level and non-stationary ground , 2012, Auton. Robots.