Low-centroid Crawling Motion for Humanoid Robot Based on Whole-body Dynamics and Trajectory Optimization

Mingyue Jin, Junyao Gao, Junhang Lai, Xiaokun Jin, Weilong Zuo, Jingwei Cao, Xilong Xin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

Humanoid robots show the ability to replace humans for some dangerous tasks in complex environment. There are various motion types for robots moving into the dangerous environment like walking, rolling and crawling. However, the higher centroid brings instability when humanoid robots execute walking motion. Rolling motion may cause damage crash to the robot's mechanical structure. Therefore, a crawling action with low-centroid and less collision force is designed for robots to execute dangerous tasks. Firstly, a mechanical structure is designed for our robot called BHR-FCR. BHR-FCR own 23-Degree of Freedom (DoF) which provides possibility to achieve crawling motion. Then, Newton-Euler iterative recursion and Lagrange method are adopted for dynamics analysis which provides the basis for trajectory planning. Moreover, in the view of energy loss, the whole-body motion trajectory is generated by dynamic model and trajectory optimization with collocation method. The simulation and real-world experiments depict that BHR-FCR robot is able to crawl across lower wall and crawl on the slope which illustrates the stability of BHR-FCR mechanical structure and the effectiveness proposed algorithm.

Original languageEnglish
Title of host publication2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages199-205
Number of pages7
ISBN (Electronic)9781665489188
DOIs
Publication statusPublished - 2022
Event7th International Conference on Robotics and Automation Engineering, ICRAE 2022 - Singapore, Singapore
Duration: 18 Nov 202220 Nov 2022

Publication series

Name2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022

Conference

Conference7th International Conference on Robotics and Automation Engineering, ICRAE 2022
Country/TerritorySingapore
CitySingapore
Period18/11/2220/11/22

Keywords

  • BHR-FCR humanoid robot
  • dynamics
  • kinematics
  • low-centroid crawling motion
  • trajectory optimization

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Jin, M., Gao, J., Lai, J., Jin, X., Zuo, W., Cao, J., & Xin, X. (2022). Low-centroid Crawling Motion for Humanoid Robot Based on Whole-body Dynamics and Trajectory Optimization. In 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022 (pp. 199-205). (2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE56463.2022.10056163