Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion

Xiang Meng; Zelin Huang; Qian Liang; Yue Dong; Zhifa Gao; Lianqiang Han; Junhang Lai; Sai Gu; Huanzhong Chen; Xuechao Chen; Qiang Huang

doi:10.1007/978-3-031-45770-8_85

Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion

Xiang Meng, Zelin Huang, Qian Liang, Yue Dong, Zhifa Gao, Lianqiang Han, Junhang Lai, Sai Gu, Huanzhong Chen, Xuechao Chen^*, Qiang Huang

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

Traversing through stairs stably is a challenging task for humanoid locomotion. Previous researches mostly focus on empowering humanoid robots with the capability of walking up stairs. There are only a few studies about walking down stairs, not to mention the case of humanoid robots walking down stairs with small joint range of motion (RoM). This paper proposes a whole-body motion optimization method for humanoid robots walking down stairs continuously with restricted joint RoM. Motion generation consists of two sequential optimization problems. The first is a segmented parameter optimization of swing foot trajectory considering trajectory smoothness and collision avoidance. The second is a whole-body motion optimization based on the centroidal dynamics and whole-body kinematics model, which takes the optimized swing foot trajectory as hard equality constraints and optimizes physically feasible whole-body trajectory for walking down stairs within small joint RoM. Finally, the effectiveness of the proposed method is validated in simulation with the humanoid robot BHR7P.

源语言	英语
主期刊名	Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2
编辑	Masafumi Okada
出版商	Springer Science and Business Media B.V.
页	859-868
页数	10
ISBN（印刷版）	9783031457692
DOI	https://doi.org/10.1007/978-3-031-45770-8_85
出版状态	已出版 - 2023
活动	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, 日本期限: 5 11月 2023 → 9 11月 2023

出版系列

姓名	Mechanisms and Machine Science
卷	148
ISSN（印刷版）	2211-0984
ISSN（电子版）	2211-0992

会议

会议	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
国家/地区	日本
市	Tokyo
时期	5/11/23 → 9/11/23

访问文件

10.1007/978-3-031-45770-8_85

其它文件与链接

链接到 Scopus 的出版物

引用此

Meng, X., Huang, Z., Liang, Q., Dong, Y., Gao, Z., Han, L., Lai, J., Gu, S., Chen, H., Chen, X., & Huang, Q. (2023). Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. 在 M. Okada (编辑), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2 (页码 859-868). (Mechanisms and Machine Science; 卷 148). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-031-45770-8_85

Meng, Xiang ; Huang, Zelin ; Liang, Qian 等. / Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. 编辑 / Masafumi Okada. Springer Science and Business Media B.V., 2023. 页码 859-868 (Mechanisms and Machine Science).

@inproceedings{a02b680ef36b48699118cc1cad259b08,

title = "Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion",

abstract = "Traversing through stairs stably is a challenging task for humanoid locomotion. Previous researches mostly focus on empowering humanoid robots with the capability of walking up stairs. There are only a few studies about walking down stairs, not to mention the case of humanoid robots walking down stairs with small joint range of motion (RoM). This paper proposes a whole-body motion optimization method for humanoid robots walking down stairs continuously with restricted joint RoM. Motion generation consists of two sequential optimization problems. The first is a segmented parameter optimization of swing foot trajectory considering trajectory smoothness and collision avoidance. The second is a whole-body motion optimization based on the centroidal dynamics and whole-body kinematics model, which takes the optimized swing foot trajectory as hard equality constraints and optimizes physically feasible whole-body trajectory for walking down stairs within small joint RoM. Finally, the effectiveness of the proposed method is validated in simulation with the humanoid robot BHR7P.",

keywords = "Humanoid locomotion, Limited joint range of motion, Motion generation, Trajectory optimization",

author = "Xiang Meng and Zelin Huang and Qian Liang and Yue Dong and Zhifa Gao and Lianqiang Han and Junhang Lai and Sai Gu and Huanzhong Chen and Xuechao Chen and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 ; Conference date: 05-11-2023 Through 09-11-2023",

year = "2023",

doi = "10.1007/978-3-031-45770-8_85",

language = "English",

isbn = "9783031457692",

series = "Mechanisms and Machine Science",

publisher = "Springer Science and Business Media B.V.",

pages = "859--868",

editor = "Masafumi Okada",

booktitle = "Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2",

address = "Germany",

}

Meng, X, Huang, Z, Liang, Q, Dong, Y, Gao, Z, Han, L, Lai, J, Gu, S, Chen, H, Chen, X & Huang, Q 2023, Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. 在 M Okada (编辑), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. Mechanisms and Machine Science, 卷 148, Springer Science and Business Media B.V., 页码 859-868, 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023, Tokyo, 日本, 5/11/23. https://doi.org/10.1007/978-3-031-45770-8_85

Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. / Meng, Xiang; Huang, Zelin; Liang, Qian 等.
Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. 编辑 / Masafumi Okada. Springer Science and Business Media B.V., 2023. 页码 859-868 (Mechanisms and Machine Science; 卷 148).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion

AU - Meng, Xiang

AU - Huang, Zelin

AU - Liang, Qian

AU - Dong, Yue

AU - Gao, Zhifa

AU - Han, Lianqiang

AU - Lai, Junhang

AU - Gu, Sai

AU - Chen, Huanzhong

AU - Chen, Xuechao

AU - Huang, Qiang

PY - 2023

Y1 - 2023

N2 - Traversing through stairs stably is a challenging task for humanoid locomotion. Previous researches mostly focus on empowering humanoid robots with the capability of walking up stairs. There are only a few studies about walking down stairs, not to mention the case of humanoid robots walking down stairs with small joint range of motion (RoM). This paper proposes a whole-body motion optimization method for humanoid robots walking down stairs continuously with restricted joint RoM. Motion generation consists of two sequential optimization problems. The first is a segmented parameter optimization of swing foot trajectory considering trajectory smoothness and collision avoidance. The second is a whole-body motion optimization based on the centroidal dynamics and whole-body kinematics model, which takes the optimized swing foot trajectory as hard equality constraints and optimizes physically feasible whole-body trajectory for walking down stairs within small joint RoM. Finally, the effectiveness of the proposed method is validated in simulation with the humanoid robot BHR7P.

AB - Traversing through stairs stably is a challenging task for humanoid locomotion. Previous researches mostly focus on empowering humanoid robots with the capability of walking up stairs. There are only a few studies about walking down stairs, not to mention the case of humanoid robots walking down stairs with small joint range of motion (RoM). This paper proposes a whole-body motion optimization method for humanoid robots walking down stairs continuously with restricted joint RoM. Motion generation consists of two sequential optimization problems. The first is a segmented parameter optimization of swing foot trajectory considering trajectory smoothness and collision avoidance. The second is a whole-body motion optimization based on the centroidal dynamics and whole-body kinematics model, which takes the optimized swing foot trajectory as hard equality constraints and optimizes physically feasible whole-body trajectory for walking down stairs within small joint RoM. Finally, the effectiveness of the proposed method is validated in simulation with the humanoid robot BHR7P.

KW - Humanoid locomotion

KW - Limited joint range of motion

KW - Motion generation

KW - Trajectory optimization

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DO - 10.1007/978-3-031-45770-8_85

M3 - Conference contribution

AN - SCOPUS:85177570466

SN - 9783031457692

T3 - Mechanisms and Machine Science

SP - 859

EP - 868

BT - Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2

A2 - Okada, Masafumi

PB - Springer Science and Business Media B.V.

T2 - 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

Y2 - 5 November 2023 through 9 November 2023

ER -

Meng X, Huang Z, Liang Q, Dong Y, Gao Z, Han L 等. Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. 在 Okada M, 编辑, Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. Springer Science and Business Media B.V. 2023. 页码 859-868. (Mechanisms and Machine Science). doi: 10.1007/978-3-031-45770-8_85

Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion

摘要

出版系列

会议

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