Constraint and Optimization Control on Similar Stepping Upstairs for Humanoid Robot
KE Wende1, PENG Zhiping1, CAI Zesu2, CHEN Ke1
1. Department of Computer Science and Technology, Guangdong University of Petrochemical Technology, Maoming 525000, China;
2. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
柯文德, 彭志平, 蔡则苏, 陈珂. 仿人机器人相似性阶梯行走约束与优化控制[J]. 机器人, 2014, 36(2): 233-240.DOI: 10.3724/SP.J.1218.2014.00233.
KE Wende, PENG Zhiping, CAI Zesu, CHEN Ke. Constraint and Optimization Control on Similar Stepping Upstairs for Humanoid Robot. ROBOT, 2014, 36(2): 233-240. DOI: 10.3724/SP.J.1218.2014.00233.
A method of constraint and optimization control on the similar stepping-upstairs process for humanoid robots is proposed to solve the problem that the fixed tracks captured from the human locomotion can't be used in the changeable target environment in the similar motion planning of humanoid robots. Firstly, the similar stepping-upstairs processes are divided into the sub phases and key poses, and the corresponding kinematics constraints are set as well. Secondly, the dynamics constraints are also set for the locomotion stability, walking direction and landing-buffer process. Thirdly, the HRPSO (particle swarm optimization with hierarchical reinforcement learning) algorithm is proposed to optimize the tracks of stepping upstairs for humanoid robots. The experiment proves the validity of the proposed method.
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