Paper Info
Title
An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot
Abstract
When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method.
Year
DOI
Venue
2011
10.1177/0278364911405870
I. J. Robotic Res.
Keywords
Field
DocType
Impact dynamics,humanoid robot
Sequential optimization,Angular momentum,Simulation,Control theory,Motion generation,Control engineering,Sequential quadratic programming,Impact,Mathematics,Humanoid robot,Impact dynamics
Journal
Volume
Issue
ISSN
30
13
0278-3649
Citations 
PageRank 
References 
9
0.84
21
Authors
5
Name
Order
Citations
PageRank
Konno Atsushi136665.85
Tomoya Myojin291.18
Takaaki Matsumoto3122.37
Teppei Tsujita43813.50
masaru uchiyama558790.30