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Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery

Schuller, Robert and Mesesan, George-Adrian and Englsberger, Johannes and Lee, Jinoh and Ott, Christian (2021) Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. IEEE Robotics and Automation Letters, 6 (3), pp. 5689-5696. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3082023. ISSN 2377-3766.

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[img] PDF - Only accessible within DLR bis July 2023 - Published version
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Official URL: https://ieeexplore.ieee.org/document/9435940

Abstract

This letter presents a new push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system's rotational dynamics. The proposed framework actively generates centroidal angular momentum (CAM) references based on the force magnitude and direction of the push to counteract the disturbance and maintain its balance. Since a humanoid robot can only store a limited amount of angular momentum, the CAM reference is generated in three consecutive phases: 1) CAM generation phase to counteract the push; 2) CAM reduction phase to bring the robot to a halt; and 3) posture recovery phase to converge to the reference pose again. A subsequent whole-body motion optimizer, formulated as a constrained quadratic optimization problem, generates kinematically feasible whole-body trajectories based on the CAM reference. The proposed framework is validated through experiments with the humanoid robot TORO.

Item URL in elib:https://elib.dlr.de/144076/
Document Type:Article
Title:Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schuller, RobertRobert.Schuller (at) dlr.dehttps://orcid.org/0000-0001-6034-5586
Mesesan, George-AdrianGeorge.Mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Englsberger, JohannesJohannes.Englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650
Lee, JinohJinoh.Lee (at) dlr.dehttps://orcid.org/0000-0002-4901-7095
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:July 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:6
DOI :10.1109/LRA.2021.3082023
Page Range:pp. 5689-5696
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Humanoid and bipedal locomotion, Whole-body motion planning and control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:24 Sep 2021 14:52
Last Modified:29 Sep 2022 12:22

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