Abstract
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass-inertial properties. Humanoid robots built with a purely tree type architecture tend to be bulky and usually suffer from velocity and force/torque limitations. This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.
Original language | English |
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Title of host publication | 10th IEEE-RAS International Conference on Humanoid Robots 2020 |
Publisher | IEEE |
Pages | 400-407 |
Number of pages | 8 |
ISBN (Electronic) | 9781728193724 |
DOIs | |
Publication status | Published - 11 Oct 2021 |
Event | 20th IEEE-RAS International Conference on Humanoid Robots 2020 - Munich, Germany Duration: 19 Jul 2021 → 21 Jul 2021 |
Conference
Conference | 20th IEEE-RAS International Conference on Humanoid Robots 2020 |
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Abbreviated title | Humanoids 2020 |
Country/Territory | Germany |
City | Munich |
Period | 19/07/21 → 21/07/21 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Hardware and Architecture
- Human-Computer Interaction
- Electrical and Electronic Engineering