Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles
|Title||Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles|
|Publication Type||Conference Paper|
|Year of Publication||2014|
|Authors||Koch, KH, Mombaur, K, Soueres, P, Stasse, O|
|Conference Name||IEEE/RAS International Conference on Humanoid Robot (ICHR)|
|Keywords||Model Predictive control, Whole body control|
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.