Filomat 2020 Volume 34, Issue 15, Pages: 5033-5048
https://doi.org/10.2298/FIL2015033Z
Full text ( 964 KB)
Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots
Zhang Zhijun (School of Automation Science and Engineering, South China University of Technology, Guangzhou, China + Center for Brain Computer Interfaces and Brain Information Processing, South China University of Technology, Guangzhou, China), auzjzhang@scut.edu.cn
Kong Lingdong (School of Automation Science and Engineering, South China University of Technology, Guangzhou, China + Center for Brain Computer Interfaces and Brain Information Processing, South China University of Technology, Guangzhou, China + School of Computer Science and Engineering, Nanyang Technological University, Singapore), ldkong@ieee.org
Niua Yaru (School of Automation Science and Engineering, South China University of Technology, Guangzhou, China + Center for Brain Computer Interfaces and Brain Information Processing, South China University of Technology, Guangzhou, China + School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA), yaruniu@gatech.edu
Liang Ziang (School of Automation Science and Engineering, South China University of Technology, Guangzhou, China), auzyliang@mail.scut.edu.cn
The gesture-determined-dynamic function (GDDF) offers an effective way to
handle the control problems of humanoid robots. Specifically, GDDF is
utilized to constrain the movements of dual arms of humanoid robots and
steer specific gestures to conduct demanding tasks under certain conditions.
However, there is still a deficiency in this scheme. Through experiments, we
found that the joints of the dual arms, which can be regarded as the
redundant manipulators, could exceed their limits slightly at the joint
angle level. The performance straightly depends on the parameters designed
beforehand for the GDDF, which causes a lack of adaptability to the practical
applications of this method. In this paper, a modified scheme of GDDF with
consideration of margins (MGDDF) is proposed. This MGDDF scheme is based on
quadratic programming (QP) framework, which is widely applied to solving the
redundancy resolution problems of robot arms. Moreover, three margins are
introduced in the proposed MGDDF scheme to avoid joint limits. With
consideration of these margins, the joints of manipulators of the humanoid
robots will not exceed their limits, and the potential damages which might
be caused by exceeding limits will be completely avoided. Computer
simulations conducted on MATLfurther verify the feasibility and
superiority of the proposed MGDDF scheme.
This article has been retracted. Link to the retraction 10.2298/FIL2207503E
Keywords: Humanoid robots, Motion planning, Quadratic programming, Dynamics, Robotic manipulation