Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

International Journal of Advanced Robotic Systems

关键词: humanoid robot;    autonomous obstacle-avoidance method;    groping locomotion;    six-axis force sensor;    trajectory generation;   

DOI  :  10.5772/5783

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation...

【 授权许可】

CC BY