Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles

  • Posted on: 21 September 2014
  • By: ostasse
TitleOptimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles
Publication TypeConference Paper
Year of Publication2014
AuthorsKoch, KH, Mombaur, K, Soueres, P, Stasse, O
Conference NameIEEE/RAS International Conference on Humanoid Robot (ICHR)
KeywordsModel Predictive control, Whole body control
Abstract

 

This paper proposes a new generic strategy to investigate the dynamic limits of the humanoid robot HRP-2 based on whole body optimal control optimization. In this study we exploit the intuitive access to complex motion characteristics, given by optimal control, to effectively resolve a major technical coupling effect, namely between the ankle elasticity and the stabilizing algorithms. Control efforts are reduced to get a clearer view of the actual system limits and to exploit its capacities at maximum. As showcase we decided to focus on a stepping motion over a cylindrical obstacle. This study is further supported by real experiments on the HRP-2 14 robotic platform and we could successfully extend the present maximum of a dynamically overstepped obstacle to 20cm (height) x 11cm (width) (including safety margin) without multi-contact support.

URLhttps://hal.archives-ouvertes.fr/hal-01113490/document
DOI10.1109/HUMANOIDS.2014.7041391
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