Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles

Kai Henning Koch (1) , Katja Mombaur (1) , Olivier Stasse (2) , Philippe Souères (2)

1 IWR - Interdisciplinary Center for Scientific Computing
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper proposes a new generic strategy to investigate the dynamic limits of the humanoid robot HRP-2 based on whole body optimal control optimization. In this study we exploit the intuitive access to complex motion characteristics, given by optimal control, to effectively resolve a major technical coupling effect, namely between the ankle elasticity and the stabilizing algorithms. Control efforts are reduced to get a clearer view of the actual system limits and to exploit its capacities at maximum. As showcase we decided to focus on a stepping motion over a cylindrical obstacle. This study is further supported by real experiments on the HRP-2 14 robotic platform and we could successfully extend the present maximum of a dynamically overstepped obstacle to 20cm (height) x 11cm (width) (including safety margin) without multi-contact support.

Mots clés: optimal control; humanoid robotcs; HRP-2; stepping over obstacles

Domaines: Robotique [cs.RO]

Kai Henning Koch, Katja Mombaur, Olivier Stasse, Philippe Souères. Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles. IEEE International Conference on Humanoid Robotics (HUMANOIDS), Nov 2014, Madrid, Spain. 8p. ⟨hal-01113490⟩