Abstract
Motion planning starts by planning the trajectory of the center of mass. With the increasing capabilities of humanoid robots, the case when contacts are spatially distributed should be considered. This paper shows the existence of contact configurations in which any acceleration of the center of mass is feasible. The procedure for identifying such configurations is presented. On the other hand, for the configurations in which the constraint on center of mass movement exists, it will be shown how to find that linear constraint, which defines the space of feasible motion. The proposed algorithm has low complexity. Additionally, it will be shown that the whole procedure needs to be run only once when the contact configuration changes.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
Dual cone of cone C in three dimensional space is defined as \(C^*=\left\{ \textbf{y} \in \mathbb {R}^3 : \textbf{y}^T\textbf{x}\ge 0,\forall \textbf{x} \in C\right\} \).
References
Brecelj, T., Petrič, T.: Zero moment line - universal stability parameter for multi-contact systems in three dimensions. Sensors 22(15) (2022). https://doi.org/10.3390/s22155656, https://www.mdpi.com/1424-8220/22/15/5656
Caron, S., Pham, Q.C., Nakamura, Y.: Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics. In: Robotics: Science and System (2015)
Caron, S., Pham, Q.C., Nakamura, Y.: Stability of surface contacts for humanoid robots: Closed-form formulae of the contact wrench for rectangular support areas. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2015)
Gale, D., Kuhn, H.W., Tucker, A.W.: Activity analysis of production and allocation, vol. 13, chap. Linear programming and the theory of games, pp. 317–335 (1951)
Harada, K., et al.: Dynamical balance of a humanoid robot grasping an environment. In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), vol. 2, pp. 1167–1173. IEEE (2004)
Harada, K., Kajita, S., Kaneko, K., Hirukawa, H.: Dynamics and balance of a humanoid robot during manipulation tasks. IEEE Trans. Robot. 22(3), 568–575 (2006)
Kuindersma, S., Permenter, F., Tedrake, R.: An efficiently solvable quadratic program for stabilizing dynamic locomotion. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 2589–2594 (2014). https://doi.org/10.1109/ICRA.2014.6907230
Nikolić, M., Borovac, B., Raković, M.: Dynamic balance preservation and prevention of sliding for humanoid robots in the presence of multiple spatial contacts. Multibody Syst. Dyn. 42(2), 197–218 (2017). https://doi.org/10.1007/s11044-017-9572-9
Nikolić, M., Borovac, B., Raković, M., Savić, S.: A further generalization of task-oriented control through tasks prioritization. Int. J. Humanoid Rob. 10(03) (2013)
Sentis, L., Park, J., Khatib, O.: Compliant control of multicontact and center-of-mass behaviors in humanoid robots. IEEE Trans. Robotics 26(3), 483–501 (2010)
Takao, S., Yokokohji, Y., Yoshikawa, T.: FSW (feasible solution of wrench) for multi-legged robots. In: 2003 IEEE International Conference on Robotics and Automation, ICRA’03, vol. 3, pp. 3815–3820. IEEE (2003)
Vukobratović, M., Borovac, B.: Zero-moment point-thirty five years of its life. Int. J. Humanoid Rob. 1(01), 157–173 (2004)
Vukobratović, M., Juricic, D.: Contribution to the synthesis of biped gait. IEEE Trans. Biomed. Eng. 1, 1–6 (1969)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Nikolić, M., Borovac, B., Raković, M., Žigić, M. (2023). Center of Mass Wrench Constraints in Presence of Spatially Distributed Contacts. In: Petrič, T., Ude, A., Žlajpah, L. (eds) Advances in Service and Industrial Robotics. RAAD 2023. Mechanisms and Machine Science, vol 135. Springer, Cham. https://doi.org/10.1007/978-3-031-32606-6_38
Download citation
DOI: https://doi.org/10.1007/978-3-031-32606-6_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-32605-9
Online ISBN: 978-3-031-32606-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)