Overview
ABSTRACT
Humanoid robots are poly-articulated mechanical systems that use their environment to move and to interact with them. Their links with the environment have a variable number of degree of freedom and are oft temporary and unilateral, especially at feet. Therefore from the classic modeling tools, this article presents the specificities of these humanoid robots. These features are a floating reference frame, relative to a fixed world frame and environment/robot contact models that are complex and variable. The explicit consideration of the interaction between the robot and the ground is a promising source for the development of control laws dedicated to humanoid robots in unstructured environment. The paper concludes by presenting the model ‘‘Linear Inverted Pendulum’’, which is conventionally used for the control of humanoid robots.
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Read the articleAUTHORS
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Gabriel ABBA : University Professor at ENI Metz and at the Design, Manufacturing and Control Laboratory (LCFC, EA 4495)
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Yannick AOUSTIN : Lecturer at the University of Nantes, Nantes Institute for Research in Communication and Cybernetics (IRCCyN, UMR CNRS 6597)
INTRODUCTION
The notion of humanoid robot was introduced in the early 1970s to describe mobile robots with anthropomorphic characteristics, as opposed to industrial robots attached to a fixed base. The aim of humanoid robotics research is to approach human locomotion performance as closely as possible. Since the early work of Ichirô Katô and his colleagues at Tokyo's Waseda University, remarkable progress has been made, particularly in studying the stability of a humanoid robot, and its walking and running gaits. Nevertheless, the performance of a humanoid robot still needs to be significantly improved before it can rival that of a human being. Friction in joints and mechanical transmissions is not negligible, whereas it is virtually non-existent in humans. The humanoid robot's autonomy, power-to-weight ratio, shock resistance, optimal mass distribution, locomotion over rough terrain, the ability to perform safe tasks in collaboration with a human being, and its ability to evolve in an obstacle-ridden environment are all challenges that remain relevant today. Modeling these robots is an essential aspect of research in this field, thanks in particular to highly accurate physical models that take into account contact phenomena and robot dynamics.
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KEYWORDS
sensors | practical applications | Standardization | Regulation | Robotics | Motors | Modeling of Humanoid robots | Modeling of contact
Modeling humanoid robots
Humanoid robot
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