Whole-body humanoid control from upper-body task specifications

摘要

A system, method, and computer program product for generating dynamically feasible whole-body motion of a humanoid robot while realizing specified upper-body task motion are described. A kinematically feasible upper-body motion is generated based on the specified upper-body motion. A series of zero-moment points (ZMP) are computed for the generated motion and used to determine whether such motion is dynamically feasible. If the motion is not dynamically feasible, then the torso acceleration is modified to make the motion dynamically feasible, and otherwise synchronized as needed. A series of modified ZMP is determined based on the modified torso acceleration and used to distribute the resultant net ground reaction force and moment to the two feet.

主权项

1. A computer based method comprising:
computing a zero-moment point (ZMP), a net force, and a net moment for a whole body motion of a system including performing a specified upper-body task motion; determining whether the specified upper-body task motion is dynamically feasible based on the computed ZMP; responsive to a determination that the specified upper-body task motion is dynamically infeasible,
modifying the ZMP to generate a modified ZMP within a support of the system;determining a modified net force and a modified net moment based on the modified ZMP, the net force, and the net moment,
wherein the modified net force has a same normal component as the net force, andwherein the modified net moment has a same moment about a torso origin of the system as the net moment;determining a bias torso acceleration based on the modified net force;determining a modified whole body motion based on the bias torso acceleration; and performing the modified whole body motion to perform the specified upper-body task motion.