A Friction-Driven Strategy for Agile Steering Wheel Manipulation by Humanoid Robots  

作　　者：Zhaoyang Cai Xin Zhu Pierre Gergondet Xuechao Chen Zhangguo Yu 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing,China [2]CNRS-AIST Joint Robotics Laboratory,IRL,Tsukuba,Japan

出　　处：《Cyborg and Bionic Systems》2023年第1期14-27,共14页类生命系统（英文）

基　　金：supported in part by the National Natural Science Foundation of China under grant no.62073041;in part by the“111”Project under grant B08043.

摘　　要：Vehicle driving can substantially enhance the maneuverability of humanoid robots.Agile steering wheel manipulation requires rapid rotation in narrow spaces such as a cab,serving as the foundation for increasing driving speed,especially in an obstacle avoidance scenario.Generally,there are 3 human driving strategies,“Hand-to-Hand,”“Hand-over-Hand,”and“One-Hand.”Based on the human driving motion data,we quantitatively analyze these strategies from 3 aspects,motion range of joint combination,motion region of the shoulder,and velocity of the manipulation.Then,a friction-driven manipulation strategy using one hand is proposed utilizing the similarity between a humanoid robot and a driver(human).It effectively addresses the requirements of both a small range of motion and rapid manipulation.To prevent the deformation of the steering wheel caused by excessive force,we construct an operating force model specifically for the steering wheel.This model accurately describes the relationship between the rotation resistance and the state of the steering wheel.In addition,we propose a quadratic programming(QP)-based control framework to servo the robot to track the end-effector position and target wrench output by this model.Finally,the effectiveness of this paper is evaluated through an obstacle avoidance scenario,achieving a maximum rotation velocity of 3.14 rad/s.

关 键 词：ROBOT driving ROTATION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]