An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot

Atsushi Konno, Tomoya Myojin, Takaaki Matsumoto, Teppei Tsujita, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    16 Citations (Scopus)

    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.

    Original languageEnglish
    Pages (from-to)1596-1608
    Number of pages13
    JournalInternational Journal of Robotics Research
    Volume30
    Issue number13
    DOIs
    Publication statusPublished - 2011 Nov

    Keywords

    • Impact dynamics
    • humanoid robot

    ASJC Scopus subject areas

    • Software
    • Modelling and Simulation
    • Mechanical Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Applied Mathematics

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