Trajectory generation in groping locomotion of a 21-DOF humanoid robot

摘要

The formulation and optimization of joint trajectories for a humanoid robot’s manipulator is quite different from standard robots’ because of the complexity of its kinematics and dynamics. This paper presents a formulation to solve kinematics problems to generate trajectory for a 21-DOF humanoid robot in the groping-locomotion method. The groping-locomotion method includes a basic autonomous interaction method for biped humanoid robots to physically interact and responds to its surrounding conditions. This paper explains in detail kinematics formulations applied within the algorithm of the groping-locomotion method. Analysis of the joint trajectories using animation and experiments utilizing the Bonten-Maru II humanoid robot were conducted, with results showing good performance of the proposed algorithm in generating smooth movement of the robot’s arms and legs.