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

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2
Editors	Masafumi Okada
Publisher	Springer Science and Business Media B.V.
Pages	859-868
Number of pages	10
ISBN (Print)	9783031457692
DOIs	https://doi.org/10.1007/978-3-031-45770-8_85
Publication status	Published - 2023
Event	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan Duration: 5 Nov 2023 → 9 Nov 2023

Publication series

Name	Mechanisms and Machine Science
Volume	148
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Country/Territory	Japan
City	Tokyo
Period	5/11/23 → 9/11/23

Keywords

Humanoid locomotion
Limited joint range of motion
Motion generation
Trajectory optimization

Access to Document

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

Cite this

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. In M. Okada (Ed.), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2 (pp. 859-868). (Mechanisms and Machine Science; Vol. 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 et al. / 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. editor / Masafumi Okada. Springer Science and Business Media B.V., 2023. pp. 859-868 (Mechanisms and Machine Science).

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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.",

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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. in M Okada (ed.), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. Mechanisms and Machine Science, vol. 148, Springer Science and Business Media B.V., pp. 859-868, 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023, Tokyo, Japan, 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 et al.
Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. ed. / Masafumi Okada. Springer Science and Business Media B.V., 2023. p. 859-868 (Mechanisms and Machine Science; Vol. 148).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Dong, Yue

AU - Gao, Zhifa

AU - Han, Lianqiang

AU - Lai, Junhang

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AU - Chen, Xuechao

AU - Huang, Qiang

PY - 2023

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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.

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ER -

Meng X, Huang Z, Liang Q, Dong Y, Gao Z, Han L et al. Optimization of Whole-Body Motion for Humanoid Robot Walking Down Stairs with Small Joint Range of Motion. In Okada M, editor, Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2. Springer Science and Business Media B.V. 2023. p. 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

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