Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulation

Masahiro Bando, Masaki Murooka, Iori Yanokura, Shunichi Nozawa, K. Okada, M. Inaba
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引用次数: 1

Abstract

For robots to act in outdoor environments, the ability for locomotion is an important factor because it influences the range of activities. Humanoid robots are acquiring the ability for locomotion in horizontal directions so far, and the ability for vertical locomotion is now required in order to extend their range of activities further. Therefore, we propose rappelling as a method for vertical locomotion. Rappelling is a method to descend from a high place using a rope and a belay device. With this method, humanoid robots are expected to get the ability for vertical locomotion without additional actuators. In this paper, we propose a full-body motion for rappelling based on the sequential transition of the centroid position and the contact states. We also propose the reliable manipulation of a rope grasped by both hands. With the proposed methods, we conducted an experiment of rappelling with HRP2, and it could successfully descend from a height of 2m50cm in 277 seconds.
基于过渡运动生成和可靠的绳索操作的仿人机器人降绳
对于在室外环境中活动的机器人来说,运动能力是一个重要的因素,因为它影响着机器人的活动范围。人形机器人目前已经具备了水平方向的运动能力,为了进一步扩大其活动范围,现在需要具备垂直方向的运动能力。因此,我们建议用绳索下降作为垂直运动的一种方法。绳降是一种利用绳索和保护装置从高处下降的方法。利用这种方法,仿人机器人有望在没有附加作动器的情况下获得垂直运动的能力。在本文中,我们提出了一种基于质心位置和接触状态顺序转换的全身运动。我们还提出了用双手抓住绳子的可靠操作方法。利用所提出的方法,我们用HRP2进行了绳降实验,它在277秒内成功地从2m50cm的高度下降。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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