Bionic Jumping of Humanoid Robot via Online Centroid Trajectory Optimization and High Dynamic Motion Controller  

作　　者：Xiangji Wang Wei Guo Zhicheng He Rongchao Li Fusheng Zha Lining Sun 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology(HIT),Harbin,150001,China [2]Faculty of Computing,Harbin Institute of Technology(HIT),Harbin,150001,China

出　　处：《Journal of Bionic Engineering》2024年第6期2759-2778,共20页仿生工程学报(英文版)

基　　金：supported in part by the National Key Research and Development Program of China(2020YFB13134);Major Project of National Natural Science Foundation of China(U2013602);The National Nature Science Foundation of China(52075115);HIT Major Campus Cultivation Project(2023FRFK01001);National independent project(SKLRS202301A12).

摘　　要：The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.

关 键 词：Humanoid robots Jumping motion control Centroid trajectory optimization Optimization and optimal control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]